Shovel and autonomous aerial vehicle flying around shovel

ABSTRACT

A shovel includes a lower traveling body, an upper turning body mounted on the lower traveling body; and a receiver, a direction detecting device, a controller, and a display device mounted on the upper turning body, wherein the receiver is configured to receive an image captured by a camera-mounted autonomous aerial vehicle, the direction detecting device is configured to detect a direction of the shovel, the controller is configured to generate information related to a target rotation angle of the camera-mounted autonomous aerial vehicle based on the direction of the shovel, and the display device is configured to display the captured image in a same direction as a direction of an image that is captured when the camera-mounted autonomous aerial vehicle rotates by the target rotation angle.

CROSS-REFERENCE TO RELATED APPLICATION

The present application is a continuation application of InternationalApplication No. PCT/JP2017/003041, filed on Jan. 27, 2017, which claimspriority to Japanese Application No. 2016-016664 filed on Jan. 29, 2016,Japanese Application No. 2016-016665 filed on Jan. 29, 2016, JapaneseApplication No. 2016-021322 filed on Feb. 5, 2016, Japanese ApplicationNo. 2016-051566 filed on Mar. 15, 2016, Japanese Application No.2016-071609 filed on Mar. 31, 2016, the entire content of each of whichis incorporated herein by reference.

BACKGROUND Technical Field

The disclosures herein generally relate to a shovel and an autonomousaerial vehicle flying around the shovel.

Description of Related Art

A shovel that uses cameras mounted on an upper turning body is known.This shovel is equipped with, in a cabin, a display device that displaysimages captured by the cameras directed to the sides and the rear sideof the upper turning body. Accordingly, an operator of the shovel canvisually check situations on the rear side and the sides of the shovelby looking at the display device.

However, the shovel disclosed in Patent Document 1 only displays, on thedisplay device, images captured by the cameras mounted on the upperturning body. Thus, the operator of the shovel is not able to visuallycheck situations of spaces that are not captured by the cameras. Thespaces that are not captured by the cameras include a space inside anexcavated hole and a space immediately behind a counter weight, forexample.

SUMMARY

According to at least one embodiment, a shovel includes a lowertraveling body, an upper turning body mounted on the lower travelingbody; and a receiver, a direction detecting device, a controller, and adisplay device mounted on the upper turning body, wherein the receiveris configured to receive an image captured by a camera-mountedautonomous aerial vehicle, the direction detecting device is configuredto detect a direction of the shovel, the controller is configured togenerate information related to a target rotation angle of thecamera-mounted autonomous aerial vehicle based on the direction of theshovel, and the display device is configured to display the capturedimage in a same direction as a direction of an image that is capturedwhen the camera-mounted autonomous aerial vehicle rotates by the targetrotation angle.

According to at least one embodiment, an autonomous aerial vehicleincludes a camera configured to capture an image of a shovel, atransmitter configured to transmit the image captured by the camera, anda controller configured to obtain a direction of the shovel based on thecaptured image and determine a target rotation angle based on thedirection of the shovel, wherein an angle between a direction of theautonomous aerial vehicle when the autonomous aerial vehicle rotates bythe target rotation angle and a direction of the shovel is apreliminarily set angle.

According to at least one embodiment, an autonomous aerial vehicleincludes a camera configured to capture an image of a shovel, atransmitter configured to transmit the image captured by the camera, areceiver configured to receive information generated by the shovel, anda controller configured to determine a target rotation angle based onthe information generated by the shovel, wherein an angle between adirection of the autonomous aerial vehicle when the autonomous aerialvehicle rotates by the target rotation angle and a direction of theshovel is a preliminarily set angle.

According to at least one embodiment, a shovel includes a lowertraveling body, an upper turning body mounted on the lower travelingbody, and a receiver and a controller mounted on the upper turning body,wherein the receiver is configured to receive an image captured by acamera-mounted autonomous aerial vehicle, the captured image includes amarker image that is an image of a mark attached to the shovel, and thecontroller is configured to guide a movement of the shovel based on themarker image included in the captured image.

According to at least one embodiment, an autonomous aerial vehicleincludes a camera configured to capture an image of a shovel, atransmitter configured to transmit the image captured by the camera, anda controller configured to obtain a position and a direction of theshovel based on the captured image, wherein the captured image includesa marker image that is an image of a mark attached to the shovel.

Other objects and further features of the present invention will beapparent from the following detailed description when read inconjunction with the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a drawing illustrating a work site where a work support systemis used;

FIG. 2 is a system configuration diagram of the work support system;

FIG. 3 is a flowchart of a process for starting following of a shovel;

FIG. 4A is a front view of an example of a remote control;

FIG. 4B is a front view of an example of the remote control;

FIG. 5A is a flowchart illustrating an example flow of afollowing-shovel process;

FIG. 5B is a flowchart illustrating an example flow of thefollowing-shovel process;

FIG. 6A1 is a drawing illustrating an example of a target flightposition of the aerial vehicle;

FIG. 6A2 is a drawing illustrating an example of the target flightposition of the aerial vehicle;

FIG. 6B1 is a drawing illustrating an example of a target flightposition of the aerial vehicle;

FIG. 6B2 is a drawing illustrating an example of the target flightposition of the aerial vehicle;

FIG. 7A is a drawing illustrating another example of a target flightposition of the aerial vehicle;

FIG. 7B is a drawing illustrating another example of a target flightposition of the aerial vehicle;

FIG. 8A is a flowchart illustrating another example flow of thefollowing-shovel process;

FIG. 8B is a flowchart illustrating another example flow of thefollowing-shovel process;

FIG. 9 is a flowchart illustrating yet another example flow of thefollowing-shovel process;

FIG. 10A is a flowchart illustrating an example flow of a contactavoiding process;

FIG. 10B is a flowchart illustrating an example flow of the contactavoiding process;

FIG. 11 is a drawing illustrating a relationship between the shovel andthe aerial vehicle 200 when avoidance flight is performed;

FIG. 12A is a flowchart illustrating another example flow of the contactavoiding process;

FIG. 12B is a flowchart illustrating another example flow of the contactavoiding process;

FIG. 13 is a flowchart illustrating yet another example flow of thecontact avoiding process;

FIG. 14 is a side view illustrating the shovel, the aerial vehicle, anda dump truck;

FIG. 15A1 is a drawing illustrating a relative positional relationshipbetween the shovel, the aerial vehicle, and the dump truck;

FIG. 15A2 is a drawing illustrating an image captured by a camera of theaerial vehicle in FIG. 15A1;

FIG. 15B1 is a drawing illustrating another example of a relativepositional relationship between the shovel, the aerial vehicle, and thedump truck;

FIG. 15B2 is a drawing illustrating an image captured by the camera ofthe aerial vehicle in FIG. 15B1;

FIG. 15C1 is a drawing illustrating yet another example of a relativepositional relationship between the shovel, the aerial vehicle, and thedump truck;

FIG. 15C2 is a drawing illustrating an image captured by the camera ofthe aerial vehicle in FIG. 15C1;

FIG. 16A is a flowchart illustrating an example flow of an imagerotation process;

FIG. 16B is a flowchart illustrating an example flow of the imagerotation process;

FIG. 17A is a flowchart illustrating another example flow of the imagerotation process;

FIG. 17B is a flowchart illustrating another example flow of the imagerotation process;

FIG. 18A is a flowchart illustrating yet another example flow of theimage rotation process;

FIG. 18B is a flowchart illustrating yet another example flow of theimage rotation process;

FIG. 19 is a flowchart illustrating yet another example flow of theimage rotation process;

FIG. 20A is a drawing illustrating a relative positional relationshipbetween the shovel, the aerial vehicle, and the dump truck;

FIG. 20B1 is a drawing illustrating an image captured by the camera ofthe aerial vehicle in FIG. 20A;

FIG. 20B2 is a drawing illustrating an image captured by the camera ofthe aerial vehicle in FIG. 20A;

FIG. 21A is a drawing illustrating a method for obtaining a position anda direction of the shovel based on an image captured by the aerialvehicle;

FIG. 21B is a drawing illustrating the method for obtaining the positionand the direction of the shovel based on the image captured by theaerial vehicle;

FIG. 22A is a drawing illustrating a method for obtaining the height orthe depth of a ground contact plane of the shovel with respect to areference plane based on an image captured by the aerial vehicle;

FIG. 22B is a drawing illustrating a method for obtaining the height orthe depth of the ground contact plane of the shovel with respect to thereference plane based on the image captured by the aerial vehicle;

FIG. 22C is a drawing illustrating a method for obtaining the height orthe depth of the ground contact plane of the shovel with respect to thereference plane based on the image captured by the aerial vehicle;

FIG. 23A is a flowchart illustrating an example of a machine guidanceprocess;

FIG. 23B is a flowchart illustrating the example of the machine guidanceprocess;

FIG. 24A is a flowchart illustrating another example of the machineguidance process;

FIG. 24B is a flowchart illustrating another example of the machineguidance process;

FIG. 25A is a flowchart illustrating yet another example of the machineguidance process;

FIG. 25B is a flowchart illustrating yet another example of the machineguidance process;

FIG. 26 is a drawing illustrating a work site in which a fluid supplysystem is used;

FIG. 27 is a system configuration diagram of the fluid supply system;

FIG. 28A is a flowchart illustrating a process flow performed beforefuel supply;

FIG. 28B is a flowchart illustrating a process flow performed beforefuel supply;

FIG. 29A is a drawing illustrating an upper turning body on which adocking device is arranged;

FIG. 29B is a drawing illustrating the upper turning body on which thedocking device is arranged;

FIG. 30A1 is a drawing for explaining an operation of the dockingdevice;

FIG. 30A2 is a drawing for explaining an operation of the dockingdevice;

FIG. 30B1 is a drawing for explaining an operation of the dockingdevice;

FIG. 30B2 is a drawing for explaining an operation of the dockingdevice;

FIG. 31A is a flowchart illustrating a process performed aftercompleting the fuel supply;

FIG. 31B is a flowchart illustrating a process performed aftercompleting the fuel supply;

FIG. 32A1 is a drawing for explaining another example of the dockingdevice;

FIG. 32A2 is a drawing for explaining another example of the dockingdevice;

FIG. 32B1 is a drawing for explaining another example of the dockingdevice; and

FIG. 32B2 is a drawing for explaining another example of the dockingdevice.

DETAILED DESCRIPTION

It is desirable to provide a shovel that can present, to an operator ofthe shovel, an image of a space captured by a camera capable ofcapturing such an image of a space that is unable to be captured by acamera mounted on an upper turning body.

In the following, embodiments of the present invention will be describedwith reference to the accompanying drawings.

First, referring to FIG. 1, a work support system including a shovel(excavator) 100 and an aerial vehicle 200 according to an embodimentwill be described. FIG. 1 is a drawing illustrating a work site wherethe work support system is used.

The work support system mainly includes the shovel 100, the aerialvehicle 200, and a remote control 300. The shovel 100 configuring thework support system may be a single shovel or a plurality of shovels.The example of FIG. 1 includes two shovels 100A and 100B.

The aerial vehicle 200 is an autonomous aerial vehicle that can flyunder remote control or under autopilot. Examples of the aerial vehicle200 include a multicopter and an airship. In the present example, theaerial vehicle 200 is a quadcopter having a camera mounted. The remotecontrol 300 is a remote control for remotely controlling the aerialvehicle 200.

An upper turning body 3 is rotatably mounted on a lower traveling body 1of the shovel 100 via a turning mechanism 2. A boom 4 is mounted on theupper turning body 3. An arm 5 is attached to the end of the boom 4, anda bucket 6 is attached to the end of the arm 5. The boom 4, the arm 5,and the bucket 6, which are work elements, form an excavation attachmentas an example of an attachment. A cabin 10 is mounted on the upperturning body 3. The boom 4, the arm 5, and the bucket 6 arehydraulically driven by a boom cylinder 7, an arm cylinder 8, and abucket cylinder 9, respectively. A cabin 10 is mounted on the upperturning body 3 and power sources such as an engine 11 are also mountedon the upper turning body 3.

The upper turning body 3 includes a transmitter S1, a receiver S2, apositioning device S3, an orientation detecting device S4, a directiondetecting device S5, and a display device 40.

The transmitter S1 transmits information to the outside of the shovel100. For example, the transmitter S1 repeatedly transmits, atpredetermined intervals, information that can be received by the aerialvehicle 200 or the remote control 300. In the present embodiment, thetransmitter S1 repeatedly transmits, at predetermined intervals,information that can be received by the aerial vehicle 200. Only afterthe aerial vehicle 200 receives information transmitted from thetransmitter S1, the transmitter S1 may transmit next information to theaerial vehicle 200.

The receiver S2 receives information transmitted from the outside of theshovel 100. For example, the receiver S2 receives informationtransmitted from the aerial vehicle 200 or the remote control 300. Inthe present embodiment, the receiver S2 receives information transmittedfrom the aerial vehicle 200.

The positioning device S3 obtains information related to a position ofthe shovel 100. In the present embodiment, the positioning device S3 isa Global Navigation Satellite System (GNSS) (Global Positioning System(GPS)) receiver and measures latitude, longitude, and altitude of thecurrent position of the shovel 100.

The orientation detecting device S4 detects an orientation of theshovel. The orientation of the shovel is, for example, an orientation ofthe excavation attachment. In the present embodiment, the orientationdetecting device S4 includes a boom angle sensor, an arm angle sensor, abucket angle sensor, and a body inclination angle sensor. The boom anglesensor is a sensor that obtains a boom angle. For example, the boomangle sensor includes a rotation angle sensor that detects a rotationangle of a boom foot pin, a stroke sensor that detects the length ofstroke of the boom cylinder 7, and an inclination (acceleration) sensorthat detects an inclination angle of the boom 4. The arm angle sensorand the bucket angle sensor are also configured similarly. The bodyinclination angle sensor is a sensor that obtains a body inclinationangle. For example, the body inclination angle sensor detects aninclination angle of the upper turning body 3 relative to a horizontalplane. In the present embodiment, the body inclination angle sensor is atwo-axis acceleration sensor that detects an inclination angle around afront-back axis and a right-left axis. For example, the front-back axisand the right-left axis of the upper turning body 3 are orthogonal toeach other and pass through the center point of the shovel, which is apoint on a turning axis of the shovel 100. The body inclination anglesensor may be a three-axis acceleration sensor.

The direction detecting device S5 detects a direction of the shovel 100.The direction detecting device S5 is configured with, for example, ageomagnetic field sensor, a resolver or an encoder for the turning axisof the turning mechanism 2, and a gyro-sensor. The direction detectingdevice S5 may be configured with a GNSS compass including two GNSSreceivers. In the present embodiment, the direction detecting device S5is configured with a combination of a 3-axis geomagnetic field sensorand the gyro-sensor.

The display device 40 is a device that displays various types ofinformation, and is disposed in the vicinity of an operator's seat inthe cabin 10. In the present embodiment, the display device 40 candisplay an image captured by the aerial vehicle 200.

Next, referring to FIG. 2, a configuration of the work support systemwill be described. FIG. 2 is a system configuration diagram of the worksupport system.

The shovel 100 is configured with an engine 11, a main pump 14, a pilotpump 15, a control valve 17, an operating unit 26, a controller 30, andan engine control unit 74.

The engine 11 is a driving source of the shovel 100. The engine 11 is,for example, a diesel engine operated at a predetermined rotation speed.An output shaft of the engine 11 is connected to an input shaft of themain pump 14 and an input shaft of the pilot pump 15.

The main pump 14 is a variable volume swash plate type hydraulic pumpconfigured to supply hydraulic oil to the control valve 17 via ahigh-pressure hydraulic line 16. The discharge flow rate of the mainpump 14 per rotation changes according to the change in an inclinationangle of a swash plate. The inclination angle of the swash plate iscontrolled by a regulator 14 a. The regulator 14 a changes theinclination angle of the swash plate according to the change incontrolled electric current from the controller 30.

The pilot pump 15 is a fixed volume hydraulic pump configured to supplyhydraulic oil to various types of hydraulic control units such as theoperating unit 26 via a pilot line 25.

The control valve 17 is a set of flow rate control valves that controlthe flow of hydraulic oil supplied to hydraulic actuators. The controlvalve 17 selectively supplies hydraulic oil, received from the main pump14 via the high-pressure hydraulic line 16, to the one or more hydraulicactuators in accordance with the change in pilot pressure thatcorresponds to an operation direction and an operation amount of theoperating unit 26. The hydraulic actuator includes, for example, theboom cylinder 7, the arm cylinder 8, the bucket cylinder 9, a left-sidetraveling hydraulic motor 1A, a right-side traveling hydraulic motor 1B,and a turning hydraulic motor 2A.

An operating unit 26 is used by an operator of the shovel 100 to operatethe hydraulic actuators. The operating unit 26 generates pilot pressureupon receiving supply of hydraulic oil from the pilot pump via the pilotline 25. The operating unit 26 applies the pilot pressure to each pilotport of the corresponding flow rate control valve via a pilot line 25 a.The pilot pressure changes in accordance with an operation direction andan operation amount of the operating unit 26. The pilot pressure sensor15 a detects pilot pressure and outputs a detection value to thecontroller 30.

The controller 30 is a control unit that controls the shovel 100. In thepresent embodiment, the controller 30 is configured with a computerincluding a CPU, random access memory (RAM), and read-only memory (ROM).The CPU of the controller 30 reads programs corresponding to varioustypes of functions from the ROM and loads the programs into the RAM, soas to execute the functions corresponding to the respective programs.

The engine control unit 74 is a device that controls the engine 11. Theengine control unit 74 controls the amount of fuel injection so as toachieve an engine rotation speed set via an input device.

The transmitter S1, the receiver S2, the positioning device S3, theorientation detecting device S4, and the direction detecting device S5are each connected to the controller 30. The controller performscomputation based on information output from each of the receiver S2,the positioning device S3, the orientation detecting device S4, and thedirection detecting device S5, and causes the transmitter S1 to transmitinformation generated based on a computation result to the outside.

The aerial vehicle 200 is configured with a controller 201, atransmitter 202, a receiver 203, an autonomous flight device 204, and acamera 205, for example.

The controller 201 is a control unit that controls the aerial vehicle200. In the present embodiment, the controller 201 is configured with acomputer including RAM and ROM. A CPU of the controller 201 readsprograms corresponding to various types of functions from the ROM andloads the programs into the RAM so as to execute the functionscorresponding to the respective programs.

The transmitter 202 transmits information to the outside of the aerialvehicle 200. For example, the transmitter 202 repeatedly transmits, atpredetermined intervals, information that can be received by the shovel100 or the remote control 300. In the present embodiment, thetransmitter 202 repeatedly transmits, at predetermined intervals,information that can be received by the shovel 100 and the aerialvehicle 200. The information that can be received by the shovel 100 andthe aerial vehicle 200 is, for example, an image captured by the camera205.

The receiver 203 receives information transmitted from the outside ofthe aerial vehicle 200. For example, the receiver 203 receivesinformation transmitted from each of the shovel 100 and the remotecontrol 300.

The autonomous flight device 204 is a device that achieves autonomousflight of the aerial vehicle 200. In the present embodiment, theautonomous flight device 204 includes a flight control unit, an electricmotor, and a battery. Further, the aerial vehicle 200 may be equippedwith a GNSS receiver such that the aerial vehicle 200 can determine aposition of the aerial vehicle 200 on its own. Further, the aerialvehicle 200 may be equipped with a plurality of GNSS receivers such thatthe aerial vehicle 200 can determine a position and a direction of theaerial vehicle 200 on its own. Further, instead of the battery, when anexternal power source on the ground is used via a wired connection, theaerial vehicle 200 may also include a converter for voltage conversion.The aerial vehicle 200 may also include solar panels. The flight controlunit includes various types of sensors such as a gyro-sensor, anacceleration sensor, a geomagnetic field sensor (orientation sensor), anatmospheric pressure sensor, a positioning sensor, and an ultrasonicsensor. The flight control unit implements an orientation maintainingfunction, an altitude maintaining function, and the like. The electricmotor rotates propellers upon receiving power supplied from the battery.For example, upon receiving information related to a target flightposition from the controller 201, the autonomous flight device 204 movesthe aerial vehicle 200 to a target flight position by separatelycontrolling rotational speeds of the four propellers while maintainingthe orientation and the altitude of the aerial vehicle 200. Theinformation related to the target flight position includes, for example,the latitude, the longitude, and the altitude of the target flightposition. For example, the controller 201 obtains information related tothe target flight position from the outside through the receiver 203.The autonomous flight device 204 may change the direction of the aerialvehicle 200 upon receiving information related to a target directionfrom the controller 201.

The camera 205 is an object detection device that obtains an image asobject detection information. In the present embodiment, the camera 205is attached to the aerial vehicle 200 such that an image verticallybelow the aerial vehicle 200 is captured. The image captured by thecamera 205 includes information related to an imaging position that is aflight position of the aerial vehicle 200, and is used to generatethree-dimensional topographic data. Further, as an object detectiondevice, a laser range finder, an ultrasonic sensor, a millimeter-wavesensor, and the like may be used.

The remote control 300 is configured with a controller 301, atransmitter 302, a receiver 303, a display device 304, an operationinput device 305, and the like.

The controller 301 is a control unit that controls the shovel 100. Inthe present embodiment, the controller 30 is configured with a computerincluding RAM and ROM. A CPU of the controller 301 reads programscorresponding to various types of functions from the ROM and loads theprograms into the RAM so as to execute the functions corresponding tothe respective programs.

The transmitter 302 transmits information to the outside of the remotecontrol 300. For example, the transmitter 302 repeatedly transmits, atpredetermined intervals, information that can be received by the aerialvehicle 200. The transmitter 302 may transmit information that can bereceived by the shovel 100. In the present embodiment, the transmitter302 repeatedly transmits, at predetermined intervals, information thatcan be received by the aerial vehicle 200. The information that can bereceived by the aerial vehicle 200 includes, for example, informationrelated to a target flight position of the aerial vehicle 200.

The receiver 303 receives information transmitted from the outside ofthe remote control 300. The receiver 303 receives informationtransmitted from the shovel 100 or the aerial vehicle 200. In thepresent embodiment, the receiver 303 receives information transmittedfrom the aerial vehicle 200. The information transmitted from the aerialvehicle 200 includes, for example, an image captured by the camera 205of the aerial vehicle 200.

The display device 304 is a device that displays various types ofinformation. In the present embodiment, the display device 304 is aliquid crystal display, and displays information related to operationsof the aerial vehicle 200. The display device 304 may display an imagecaptured by the camera 205 of the aerial vehicle 200.

The operation input device 305 is a device that receives an operationinput performed by a pilot of the aerial vehicle 200. In the presentembodiment, the operation input device 305 is a touch panel placed onthe liquid crystal display.

Next, referring to FIG. 3, a function of the work support system will bedescribed. FIG. 3 is a flowchart of a process in which the work supportsystem starts a following-shovel function (hereinafter referred to as a“process for starting following a shovel”). The following-shovelfunction is a function that allows the aerial vehicle 200 to capture animage around the shovel 100 and send the image to the shovel 100 whileautomatically following the shovel 100.

First, a pilot of the aerial vehicle 200 determines a shovel to befollowed (step ST1). For example, the pilot uses the operation inputdevice 305 of the remote control 300 to determine a shovel to befollowed by the aerial vehicle 200.

When a shovel to be followed is determined, a process for causing theaerial vehicle 200 to follow the shovel (hereinafter referred to as a“following process”) is started (step ST2). The aerial vehicle 200starts sending a captured image (step ST3). For example, the aerialvehicle 200 repeatedly transmits, at predetermined intervals,information including an image captured by the camera 205.

Referring now to FIGS. 4A and 4B, a method for the pilot to determine ashovel to be followed by using the remote control 300 will be explained.FIGS. 4A and 4B are front views of examples of the remote control 300.In the examples of FIGS. 4A and 4B, the remote control 300 is asmartphone that includes a liquid crystal display serving as the displaydevice 304 and also includes a touch panel serving as the operationinput device 305.

FIG. 4A illustrates a case in which three shovels exist in a receivablerange of the aerial vehicle 200. The aerial vehicle 200 receives ashovel ID number via wireless communication so as to authenticate theshovel. Selection buttons G1 through G3 are software buttonscorresponding to respective authenticated shovels. The remote control300 displays selection buttons corresponding to the number ofauthenticated shovels. The shovel ID numbers are placed on the selectionbuttons. An operation button G5 is a software button for causing theaerial vehicle 200 to go up, go down, rotate to the left, and rotate tothe right. By touching an upper portion (a portion displaying “up”) ofthe operation button G5, the pilot can transmit a going-up instructionfrom the remote control 300 to the aerial vehicle 200 so as to cause theaerial vehicle 200 to go up. Going down, rotating to the left, androtating to the right operations are also similarly performed. Anoperation button G6 is a software button for causing the aerial vehicle200 to go forward, go backward, turn left, and turn right. By touchingan upper portion (a portion displaying “forward”) of the operationbutton G6, the pilot can transmit a going-forward instruction from theremote control 300 to the aerial vehicle 200 so as to cause the aerialvehicle 200 to go forward. Going backward, turning left, and turningright operations are also similarly performed.

By performing touch operations of the operation buttons G5 and G6, thepilot can cause the aerial vehicle 200 to fly above the work site. Whenthe aerial vehicle 200 authenticates shovels, the remote control 300displays the selection buttons G1 through G3 corresponding to therespective authenticated shovels based on information received from theaerial vehicle 200. The pilot determines a target shovel to be followedby touching one of the selection buttons G1 through G3. For example, byusing the information received from the aerial vehicle 200, the aerialvehicle 200 approaches the target shovel to be followed. The aerialvehicle 200 flies and follows the target shovel while maintaining arelative positional relationship with the target shovel.

FIG. 4B illustrates a case in which four shovels exist in an imagingrange of the camera 205 of the aerial vehicle 200. For example, theaerial vehicle 200 identifies shovels existing in the imaging range ofthe camera 205 by applying image processing to an image captured by thecamera 205. A camera image G10 is an image captured by the camera 205,and includes shovel images G11 through G14 corresponding to therespective four shovels existing in the imaging range of the camera 205.The remote control 300 displays the camera image G10 in real time byusing information received from the aerial vehicle 200.

The pilot determines a target shovel to be followed by touching one ofthe shovel images G11 through G14. The aerial vehicle 200 flies andfollows the target shovel in such a manner that the target shovel has apredetermined size at a predetermined position in a captured image.Namely, the aerial vehicle 200 flies and follows the target shovel whilemaintaining a predetermined relative positional relationship between thetarget shovel and the aerial vehicle 200.

Next, referring to FIGS. 5A and 5B, an example of the following-shovelprocess will be described. FIG. 5A is a flowchart illustrating a processflow performed by the shovel 100. FIG. 5B is a flowchart illustrating aprocess flow performed by the aerial vehicle 200.

First, the controller 30 of the shovel 100 obtains position informationof the shovel 100 (step ST11). For example, the controller 30 obtainslatitude, longitude, and altitude of the shovel 100 based on an outputfrom the positioning device S3. Further, the controller 30 mayadditionally obtain orientation information of the excavationattachment, direction information of the shovel 100, and operationinformation of the shovel 100. For example, the controller 30 may obtaina boom angle, an arm angle, a bucket angle, and a body inclination anglebased on an output from the orientation detecting device S4. Further,the controller 30 may obtain an absolute azimuth of the shovel 100 basedon an output from the direction detecting device S5. Further, thecontroller 30 may obtain operation details of the shovel 100 based on anoutput from the pilot pressure sensor 15 a.

Next, the controller 30 transmits the position information to theoutside (step ST12). For example, the controller 30 transmits theposition information to the aerial vehicle 200 via the transmitter S1.Further, the controller 30 may transmit, to the aerial vehicle 200, thedirection information of the shovel 100, the operation information ofthe shovel 100, and the orientation information of the excavationattachment.

By repeatedly performing step ST11 and step ST12 at predeterminedcontrol intervals, the controller 30 can continuously provide positioninformation of the shovel 100 to the aerial vehicle 200.

The controller 201 of the aerial vehicle 200 receives the positioninformation of the shovel 100 (step ST21). For example, the controller201 receives, via the receiver 203, the position information transmittedfrom the controller 30 of the shovel 100. The controller 201 mayadditionally receive the direction information of the shovel 100, theoperation information of the shovel 100, and the orientation informationof the excavation attachment. Subsequently, the controller 201determines a target flight position (step ST22). For example, thecontroller 201 determines a target flight position of the aerial vehicle200 based on the position information of the shovel 100. For example,the target flight position is a position that is higher with respect toa predetermined point on the shovel 100 by a predetermined height and isaway with respect to the predetermined point by a predetermineddistance. For example, the predetermined point is a point on the turningaxis of the shovel 100. In this case, position coordinates of thepredetermined point is calculated based on the current position of theshovel 100, namely based on the current position of the positioningdevice S3.

The controller 201 may calculate a single target flight position or maycalculate a plurality of target flight positions based on the positioncoordinates of the predetermined point. For example, the controller 201may calculate all positions as target flight positions that satisfy acondition. The condition is that a position is higher with respect tothe predetermined point on the shovel 100 by the predetermined heightand is away from the turning axis by the predetermined distance. In acase where the orientation information of the excavation attachment isobtained, the controller 201 may set the current rotation radius of theexcavation attachment as the above-described predetermined distance.Further, in a case where the direction information of the shovel 100 isobtained, the controller 201 may determine, among the positionssatisfying the above-described condition, a position located in front ofthe shovel 100 when viewed from the top as a target flight position.Further, in a case where the operation information of the shovel 100 isobtained, target flight positions may be switched according to theoperation of the shovel 100. For example, target flight positions may beswitched between when the shovel 100 is traveling and when the shovel100 is excavating.

In a case where the plurality of target flight positions are calculated,the controller 201 may determine, among the plurality of target flightpositions, a target flight position by taking into account the currentposition of the aerial vehicle 200 output from the autonomous flightdevice 204. For example, the controller 201 may determine, among theplurality of target flight positions, a target flight position locatednearest to the current position of the aerial vehicle 200 as a finaltarget flight position.

Subsequently, the controller 201 moves the aerial vehicle 200 to thetarget flight position (step ST23). For example, the controller 201outputs information related to the target flight position to theautonomous flight device 204. The autonomous flight device 204 uses GNSS(GPS) navigation, inertial navigation, or hybrid navigation combiningGPS navigation with inertial navigation to move the aerial vehicle 200to the target flight position. When GPS navigation is used, theautonomous flight device 204 may obtain an absolute position (latitude,longitude, and altitude) as information related to the target flightposition. When inertial navigation is used, the autonomous flight device204 may obtain, as information related to the target flight position,information related to a change in position of the shovel 100 betweenposition information received at a previous time and positioninformation received at a current time. In this case, the receiver 203of the aerial vehicle 200 may continuously receive position informationfrom the shovel 100.

By repeatedly performing step ST22 and step ST23 each time thecontroller 201 receives position information of the shovel 100, thecontroller 201 can cause the aerial vehicle 200 to continuously followthe shovel 100.

Further, when the aerial vehicle 200 is equipped with a plurality ofGNSS receivers, the controller 201 can identify a position and adirection (a rotation angle with respect to a reference orientation) ofthe aerial vehicle 200. In this case, by obtaining position informationand direction information of the shovel 100, the controller 201 cancompare a position and a direction of the shovel 100 with those of theaerial vehicle 200. By changing the position and the direction of theaerial vehicle 200 in accordance with changes in the position and thedirection of the shovel 100, the controller 201 can cause the aerialvehicle 200 to follow the shovel 100.

Next, referring to FIGS. 6A1 through 6B2, specific examples of targetflight positions of the aerial vehicle 200 will be described. FIGS. 6A1and 6A2 illustrate a state in which a position away from a turning axisL1 is set as a target flight position. FIGS. 6B1 and 6B2 illustrate astate in which a position on the turning axis L1 is set as a targetflight position. FIGS. 6A1 and 6B1 are side views of the shovel 100 andthe aerial vehicle 200. FIGS. 6A2 and 6B2 are top views of the shovel100 and the aerial vehicle 200.

In the examples of FIGS. 6A1 and 6A2, the target flight position is setat a position that is on a front-back axis L2 of the upper turning body3, is higher with respect to a predetermined point P1 by a height H, andis backwardly away from the turning axis L1 by a distance T. Thepredetermined point P1 is a point of intersection between a groundcontact plane and the turning axis L1 of the shovel 100 (lower travelingbody 1). In this case, the front-back axis L2 of the upper turning body3 rotates as the shovel 100 turns. Therefore, the target flight positionmoves as the shovel 100 turns. When the front-back axis L2 rotatesaround the turning axis L1 and the target flight position is changedaccordingly, the aerial vehicle 200 moves to a new target flightposition that is on the front-back axis L2 and is backwardly away fromthe turning axis L1 by the distance T while maintaining the height H.

A target flight position may be set at a position that is on thefront-back axis L2 of the upper turning body 3, is higher with respectto the predetermined point P1 of the shovel 100 by a predeterminedheight, and is forwardly away from the turning axis L1 by apredetermined distance. For example, the predetermined distance is adistance from a position directly above an arm end position. Such atarget flight position is suitable when the shovel 100 performsexcavation work or rolling compaction work.

In the examples of FIGS. 6B1 and 6B2, a target flight position is set ata position that is on the turning axis L1 and is higher from thepredetermined point 21 by the height H. In this case, the target flightposition does not move even when the shovel 100 turns. This is becausethe position of the turning axis L1 of the shovel 100 does not change.Therefore, the aerial vehicle 200 continues to fly while staying on theturning axis L1. Such a target flight position is suitable when theshovel 100 is traveling.

Next, referring to FIGS. 7A and 7B, specific examples of a target flightposition of the aerial vehicle 200 will be described. FIGS. 7A and 7Bare top views illustrating the shovel 100 performing excavation work andloading work, the aerial vehicle 200 flying and following the shovel100, and a dump truck 400 receiving sediment discharged from the shovel100. FIG. 7A illustrates a state in which the shovel 100 is performingthe excavation work with the excavation attachment being turned in a +Ydirection. FIG. 7B illustrates a state in which the excavationattachment is turned in a +X direction by being turned left after theexcavation work.

In the examples of FIGS. 7A and 7B, the target flight position is set ata position directly above the arm end position. In this case, the armend position changes as the orientation of the excavation attachmentchanges or as the shovel 100 turns. Therefore, the target flightposition moves as the orientation of the excavation attachment changesor as the shovel 100 turns. When the orientation of the excavationattachment or the direction of the shovel 100 changes, and the targetflight position is changed accordingly, the aerial vehicle 200 moves toa new target flight position that corresponds to a new arm end positionwhile maintaining the height H.

In the above-described configurations, the shovel 100 allows an imagecaptured by the camera 205, which is mounted on the aerial vehicle 200and is capable of capturing an image of a space that is unable to becaptured by a camera mounted on the upper turning body 3, to bedisplayed on the display device 40 in the cabin 10 and presented to theoperator of the shovel 100.

Further, the shovel 100 can cause the aerial vehicle 200 to follow theshovel 100 by transmitting, from the transmitter S1, information relatedto a target flight position of the aerial vehicle 200. For example, theshovel 100 can cause the aerial vehicle 200 to fly and follow the shovel100 in such a manner that a horizontal distance between the aerialvehicle 200 and a predetermined position of the excavation attachmentsuch as a boom end position and an arm end position can maintain apredetermined distance.

Further, the shovel 100 can cause the aerial vehicle 200 to follow theshovel 100 without receiving information transmitted from the aerialvehicle 200. Based on position information of the shovel 100, the aerialvehicle 200 can determine a target flight position. Therefore, theshovel 100 is only required to transmit position information of theshovel 100.

Further, the aerial vehicle 200 can follow the shovel 100 whilemaintaining a predetermined relative positional relationship between theshovel 100 and the aerial vehicle 200. Therefore, by using various typesof sensors including the camera 205, the aerial vehicle 200 can detecttopographical changes made by the shovel 100 performing work. As aresult, a situation of construction by the shovel 100 can be accuratelyidentified based on data obtained by the aerial vehicle 200.

Next, referring to FIGS. 8A and 8B, another example of thefollowing-shovel process will be described. FIG. 8A is a flowchartillustrating a process flow performed by the shovel 100. FIG. 8B is aflowchart illustrating a process flow performed by the aerial vehicle200. The example of FIGS. 8A and 8B differs from the example of FIGS. 5Aand 5B in that the controller 30 of the shovel 100 calculates andtransmits a target flight position. In the example of FIGS. 5A and 5B,the controller 30 transmits position information of the shovel 100, andthe controller 201 of the shovel 100 calculates a target flight positionbased on the position information of the shovel 100.

First, the controller 30 obtains position information of the shovel 100(step ST31). For example, the controller 30 obtains latitude, longitude,and altitude of the shovel 100 based on an output from the positioningdevice S3. Further, the controller 30 may additionally obtainorientation information of the excavation attachment, directioninformation of the shovel 100, and the like.

Next, the controller 30 obtains position information of the aerialvehicle 200 (step ST32). For example, the controller 30 receives, viathe receiver S2, position information of the aerial vehicle 200.

Next, the controller 30 determines a target flight position of theaerial vehicle 200 (step ST33). For example, the controller 30determines a target flight position of the aerial vehicle 200 based onthe position information of the shovel 100 and the position informationof the aerial vehicle 200. To be more specific, the controller 30calculates all positions as target flight positions that satisfy acondition. The condition is that a position is higher with respect tothe predetermined point on the shovel 100 by the predetermined heightand is away from the turning axis by the predetermined distance. Thecontroller 30 determines, among the target flight positions satisfyingthe above-described condition, a target flight position located nearestto the current position of the aerial vehicle 200 as a final targetflight position. In a case where the direction information of the shovel100 is obtained, the controller 30 may determine, among the positionssatisfying the above-described condition, a position located in front ofthe shovel 100 when viewed from the top as a target flight position. Inthis case, step ST32 for obtaining position information of the aerialvehicle 200 may be omitted.

Next, the controller 30 transmits the target flight position to theoutside (step ST34). For example, the controller 30 transmits, via thetransmitter S1, the target flight position to the aerial vehicle 200.

By repeatedly performing steps ST31 through step ST34 at predeterminedcontrol intervals, the controller 30 can continuously send a targetflight position to the aerial vehicle 200.

The controller 201 of the aerial vehicle 200 repeatedly transmitsposition information of the aerial vehicle 200 at a predeterminedcontrol interval (step ST41). For example, the controller 201 transmitsposition information of the aerial vehicle 200 to the shovel 100.

The controller 201 receives the target flight position (step ST42). Forexample the controller 201 receives, via the receiver 203, the targetflight position transmitted from the controller 30 of the shovel 100.

Next, the controller 201 moves the aerial vehicle 200 to the targetflight position (step ST43). For example, the controller 201 outputsinformation related to the target flight position to the autonomousflight device 204. The autonomous flight device 204 uses radionavigation, GNSS (GPS) navigation, inertial navigation, or hybridnavigation combining GPS navigation with inertial navigation to move theaerial vehicle 200 to the target flight position.

By repeatedly performing step ST43 each time the controller 201 receivesa target flight position, the controller 201 can cause the aerialvehicle 200 to continuously follow the shovel 100.

In the above-described configuration, the shovel 100 allows an imagecaptured by the camera 205 mounted on the aerial vehicle 200 to bedisplayed on the display device 40 in the cabin 10 and presented to theoperator of the shovel 100.

Further, the shovel 100 can cause the aerial vehicle 200 to follow theshovel 100 by transmitting, via the transmitter S1, information relatedto a target flight position of the aerial vehicle 200.

Further, the shovel 100 can cause the aerial vehicle 200 to follow theshovel 100 without the aerial vehicle 200 calculating a target flightposition of the aerial vehicle 200. Based on information related to atarget flight position generated by the shovel 100, the aerial vehicle200 can follow the shovel.

Next, referring to FIG. 9, yet another example of the following-shovelprocess will be described. FIG. 9 is a flowchart illustrating a processflow performed by the aerial vehicle 200. The example of FIG. 9 differfrom the examples of FIGS. 5A and 5B is that the controller 201 of theaerial vehicle 200 determines a target flight position without receivinginformation from the shovel 100.

First, the controller 201 of the aerial vehicle 200 obtains a capturedimage including a shovel image (step ST51). For example, the controller201 obtains an image captured by the camera 205 of the aerial vehicle200 flying above the shovel 100. The captured image includes a shovelimage that is an image of the shovel 100.

Next, the controller 201 calculates a relative position of the shovel100 (step ST52). For example, the controller 201 identifies the shovelimage included in the captured image by applying image processing suchas pattern matching to the captured image. Based on a positionalrelationship between the position of the identified shovel image and thecenter of the captured image, the controller 201 can calculate arelative position of the shovel 100 with respect to the position of theaerial vehicle 200 in real space. The position and the direction of theshovel image with respect to the center of the captured image correspondto the position and the direction of the shovel 100 with respect to theposition of the aerial vehicle 200. The relative position of the shovel100 includes a vertical distance and a horizontal distance between theshovel 100 and the aerial vehicle 200. The vertical distance iscalculated based on the size of the shovel image in the captured image.The horizontal distance is calculated based on the position of theshovel image in the captured image.

The controller 201 may calculate a relative direction of the shovel 100with respect to a direction of the aerial vehicle 200 based on theidentified shovel image. The relative direction of the shovel 100 withrespect to the direction of the aerial vehicle 200 is calculated basedon an angle between an extending direction of an excavation attachmentimage included in the captured image and a vertical axis of the capturedimage. The vertical axis of the captured image corresponds to thedirection of the aerial vehicle 200.

Next, the controller 201 determines a target flight position (stepST53). For example, the controller 201 determines a target flightposition based on the relative position of the shovel 100 calculated instep ST52. To be more specific, the controller 201 obtains motions(required movements) of the aerial vehicle 200 required to display theshovel image in a predetermined size at a predetermined position in thecaptured image. For example, when the shovel image can be displayed inthe predetermined size at the predetermined position in the capturedimage by moving the aerial vehicle 200 up by 1 meter and moving theaerial vehicle 200 to the north by 2 meters, the required movements are“moving up by 1 meter” and “moving to the north by 2 meters”. This meansthat a target flight position is set at a position that is 1 meterhigher than and 2 meters away from the current position of the aerialvehicle 200. Namely, by obtaining required movements of the aerialvehicle 200, a target flight position can be determined.

For example, the predetermined position in the captured image is asingle area or a plurality of areas apart from the center of thecaptured image by the predetermined number of pixels. When the shovelimage is positioned in the center of the captured image, this means thatthe shovel 100 exists directly below the aerial vehicle 200.

In addition to the relative position of the shovel 100, when therelative direction is calculated, the controller 201 can identify anarea apart from the center of the captured image by the predeterminednumber of pixels in a predetermined direction as a predeterminedposition in the captured image.

Next, the controller 201 moves the aerial vehicle 200 to the targetflight position (step ST54). For example, the controller 201 outputsinformation related to the target flight position to the autonomousflight device 204. The autonomous flight device 204 uses GNSS (GPS)navigation, inertial navigation, or hybrid navigation combining GPSnavigation with inertial navigation to move the aerial vehicle 200 tothe target flight position.

By repeatedly performing steps ST52 through ST54 each time thecontroller 201 receives a captured image, the controller 201 can causethe aerial vehicle 200 to continuously follow the shovel 100.

In the above-described configuration, the shovel 100 allows an imagecaptured by the camera 205 mounted on the aerial vehicle 200 to bedisplayed on the display device 40 in the cabin 10 and presented to theoperator of the shovel 100.

Because the aerial vehicle 200 can obtain a position of the shovel 100based on an image captured by the camera 205, the aerial vehicle 200 canfollow the shovel 100 without receiving information generated by theshovel 100.

Further, in the example of FIG. 9, the camera 205 is used as an objectdetection device, but a laser range finder, an ultrasonic sensor, amillimeter-wave sensor, and the like may be used as an object detectiondevice. In this case, instead of a camera image, information such aslaser-based information, ultrasonic-based information, ormillimeter-wave-based information is employed as object detectioninformation.

Next, referring to FIGS. 10A and 10B, another function of the worksupport system will be described. FIGS. 10A and 10B are flowchartsillustrating example flows of a process in which the work support systemavoids contact between the shovel 100 and the aerial vehicle 200(hereinafter referred to as a “contact avoiding process”). FIG. 10A is aflowchart illustrating a process flow performed by the shovel 100. FIG.10B is a flowchart illustrating a process flow performed by the aerialvehicle 200. In the example of FIGS. 10A and 10B, the aerial vehicle 200is remotely operated by the pilot via the remote control 300. However,the description below also applies to a case in which the aerial vehicle200 autonomously flies without being remotely operated by the pilot.

First, the controller 30 of the shovel 100 obtains position informationof the shovel 100 (step ST61). For example, the controller 30 obtainslatitude, longitude, and altitude of the shovel 100 based on an outputfrom the positioning device S3. Further, the controller 30 mayadditionally obtain orientation information of the excavationattachment, direction information of the shovel 100, and operationinformation of the shovel 100. For example, the controller 30 may obtaina boom angle, an arm angle, a bucket angle, and a body inclination anglebased on an output from the orientation detecting device S4. Further,the controller 30 may obtain an absolute azimuth of the shovel 100 basedon an output from the direction detecting device S5. Further, thecontroller 30 may obtain operation details of the shovel 100 based on anoutput from the pilot pressure sensor 15 a.

Next, the controller 30 transmits the position information to theoutside (step ST62). For example, the controller 30 transmits theposition information to the aerial vehicle 200 via the transmitter S1,Further, the controller 30 may transmit the direction information of theshovel 100, the operation information of the shovel 100, and theorientation information of the excavation attachment to the aerialvehicle 200.

By repeatedly performing steps ST61 and ST62 at predetermined controlintervals, the controller 30 can continuously transmit positioninformation of the shovel 100 to the aerial vehicle 200.

The controller 201 of the aerial vehicle 200 receives the positioninformation of the shovel 100 (step ST71). For example, the controller201 receives the position information of the shovel 100 transmitted fromthe controller 30 of the shovel 100 via the shovel 100. The controller201 may additionally receive the direction information of the shovel100, the operation information of the shovel 100, and the orientationinformation of the excavation attachment.

Next, the controller 201 determines a flight prohibited space (stepST72). For example, the controller 201 determines a flight prohibitedspace based on the position information of the shovel 100. The flightprohibited space is a space within a range of a predetermined distancefrom a predetermined point on the shovel 100. For example, thepredetermined point is a point on the turning axis of the shovel 100.Position coordinates of the predetermined point are calculated based onthe current position of the shovel 100, namely based on the currentposition of the positioning device S3. In this case, the flightprohibited space may be a reachable range of the excavation attachment,for example.

In a case where the orientation information of the excavation attachmentis obtained, the controller 201 may determine the above-describedpredetermined distance based on the current rotation radius of theexcavation attachment. In this case, the flight prohibited space may bea reachable range of the excavation attachment when the excavationattachment is turned while maintaining the current orientation.

Further, in a case where the direction information of the shovel 100 isobtained, the controller 201 may determine a shape of the flightprohibited space based on the direction of the shovel 100. For example,the flight prohibited space having a fan shape when viewed from the topmay be set, with the turning axis of the shovel 100 being the center. Inthis case, the fan-shaped flight prohibited space may be divided intotwo spaces by a plane including the central axis of the excavationattachment.

Further, in a case where the operation information of the shovel 100 isobtained, the controller 201 may change the shape of the flightprohibited space according to the operation of the shovel 100. Forexample, when a turn-left operation is performed, the flight prohibitedspace having a fan shape when viewed from the top may be set in such amanner that a plane including the central axis of the excavationattachment becomes the right side surface. Further, the flightprohibited space may be set in such a manner that the angular range ofthe fan shape becomes larger as an operation amount (angle) of a turningoperation lever increases.

Next, the controller 201 determines whether the aerial vehicle 200exists in the flight prohibited space (step ST73). For example, thecontroller 201 calculates the current position of the aerial vehicle 200based on an output from the autonomous flight device 204, and calculatesa distance between the predetermined point on the shovel 100 and thecurrent position of the aerial vehicle 200. When the distance is lessthan or equal to the predetermined distance, the controller 201determines that the aerial vehicle 200 exists in the flight prohibitedspace. In a case where the flight prohibited space is determined bytaking into account the direction information, the operationinformation, and the orientation information of the shovel 100, thecontroller 201 may additionally calculate a presence direction of theaerial vehicle 200 relative to the predetermined point on the shovel 100based on an output from the autonomous flight device 204.

When the controller 201 determines that the aerial vehicle 200 exists inthe flight prohibited space (yes in step ST73), the controller 201performs avoidance flight (step ST74). For example, the controller 201moves the aerial vehicle 200 to a target avoidance position. To be morespecific, the controller 201 outputs information related to the targetavoidance position to the autonomous flight device 204. The autonomousflight device 204 uses GNSS (GPS) navigation, inertial navigation, orhybrid navigation combining GPS navigation with inertial navigation tomove the aerial vehicle 200 to the target avoidance position.

The target avoidance position is a target flight position set outsidethe flight prohibited space. For example, the target avoidance positionis, among positions located outside the flight prohibited space, aposition nearest to the current position of the aerial vehicle 200.Further, when a plurality of flight prohibited spaces are set around aplurality of shovels, and the aerial vehicle 200 is located in anoverlapped area of the flight prohibited spaces, a position nearest tothe current position of the aerial vehicle 200 among all positionslocated outside the flight prohibited spaces is set as the targetavoidance position. However, information related to the target avoidanceposition may only be a target flight direction and a target flightdistance. For example, the target avoidance position may be aninstruction for moving the aerial vehicle 200 vertically upward by apredetermined height.

In order to perform the avoidance flight, the controller 201 forciblymoves the aerial vehicle 200 to the target avoidance position,regardless of the pilot's remote operation via the remote control 300.For example, even when the pilot is making the aerial vehicle 200 hover,the controller 201 forcibly moves the aerial vehicle 200 to the targetavoidance position.

The controller 201 may transmit a movement restriction command to theshovel 100. The shovel 100 that has received the movement restrictioncommand forcibly slows or stops the movement of the hydraulic actuator.This securely prevents the shovel 100 and the aerial vehicle 200 fromcontacting each other.

As part of the avoidance flight, the controller 201 may control theaerial vehicle 200 so as to prevent the aerial vehicle 200 from enteringthe flight prohibited space. For example, even when the pilot is makingthe aerial vehicle 200 enter the flight prohibited space through aremote operation, the controller 201 causes the aerial vehicle 200 tohover and prevents the aerial vehicle 200 from entering the flightprohibited space.

When the avoidance flight is performed, the remote control 300 mayindicate, to the pilot, that the avoidance flight is performed. Forexample, the remote control 300 causes the display device 304 to displaya text message indicating that the avoidance flight is performed.

Similarly, when the avoidance flight is performed, specifically when themovement of the hydraulic actuator is restricted along with theavoidance flight, the controller 30 of the shovel 100 may indicate, tothe operator of the shovel 100, that the avoidance flight is performed.For example, the controller 30 causes the display device 40 to display atext message indicating that the avoidance flight is performed.

By repeatedly performing steps ST72 through ST74 each time thecontroller 201 receives position information, the controller 201 cancause the aerial vehicle 200 to continuously fly outside the flightprohibited space.

In a case where the contact avoiding process illustrated in FIGS. 10Aand 10B is employed, the receiver S2 of the shovel 100 may be omitted.

FIG. 11 is a drawing illustrating a relationship between the shovel 100and the aerial vehicle 200 when avoidance flight is performed. FIG. 11illustrates a state in which the operator of the shovel 100 is toperform a turning operation so as to cause the shovel 100 in a +Xdirection to turn in a −X direction. When the shovel 100 is turned inthe −X direction, the aerial vehicle 200 is likely to contact theexcavation attachment as the aerial vehicle 200 is located in a flightprohibited space.

When the controller 201 determines that the aerial vehicle 200 exists inthe flight prohibited space, the controller 201 forcibly moves theaerial vehicle 200 to a target avoidance position located outside theflight prohibited space. An arrow AR1 of FIG. 11 illustrates a state inwhich the aerial vehicle 200 is to be forcibly moved to the targetavoidance position.

When the controller 201 determines that the aerial vehicle 200 does notexist in the flight prohibited space (no in step ST73), the controller201 ends the process without performing avoidance flight.

In the above-described configuration, it is possible to prevent theshovel 100 and the aerial vehicle 200 from contacting each other. To bemore specific, the shovel 100 can cause the aerial vehicle 200 toperform avoidance flight as necessary by providing information relatedto a flight prohibited space set around the shovel 100. Further, theshovel 100 may restrict the movement of the hydraulic actuator when theaerial vehicle 200 exists in the flight prohibited space. Accordingly,the operator of the shovel 100 can focus on operating the shovel 100without worry of the shovel 100 making contact with the aerial vehicle200. The aerial vehicle 200 autonomously flies so as not to enter theflight prohibited space belonging to the shovel 100. Also, when theaerial vehicle 200 is located in the flight prohibited space, the aerialvehicle 200 autonomously flies so as to promptly move out of the flightprohibited space. Accordingly, the pilot of the aerial vehicle 200 canfocus on piloting the aerial vehicle 200 without worry of the aerialvehicle 200 making contact with the shovel 100.

Next, referring to FIGS. 12A and 12B, another example of the contactavoiding process will be described. FIGS. 12A and 12B are flowchartsillustrating example flows of the contact avoiding process. FIG. 12A isa flowchart illustrating a process flow performed by the shovel 100.FIG. 12B is a flowchart illustrating a process flow performed by theaerial vehicle 200. The example of FIGS. 12A and 12B differs from theexample of FIGS. 10A and 10B in that the controller 30 of the shovel 100determines a flight prohibited space. In the example of FIGS. 10A and10B, the controller 30 transmits position information of the shovel 100,and the controller 201 of the aerial vehicle 200 determines a flightprohibited space based on the position information of the shovel 100.

First, the controller 30 of the shovel 100 obtains position informationof the shovel 100 (step ST81). For example, the controller 30 obtainslatitude, longitude, and altitude of the shovel 100 based on an outputfrom the positioning device S3. Further, the controller 30 mayadditionally obtain orientation information of the excavationattachment, direction information of the shovel 100, and operationinformation of the shovel 100. For example, the controller 30 may obtaina boom angle, an arm angle, a bucket angle, and a body inclination anglebased on an output from the orientation detecting device S4. Further,the controller 30 may obtain an absolute azimuth of the shovel 100 basedon an output from the direction detecting device S5. Further, thecontroller 30 may obtain operation details of the shovel 100 based on anoutput from the pilot pressure sensor 15 a.

Next, the controller 30 obtains position information of the aerialvehicle 200 (step ST82). For example, the controller 30 receivesposition information of the aerial vehicle 200 via the receiver S2.

Next, the controller 30 determines a flight prohibited space around theshovel 100 (step ST83). For example, the controller 30 determines aflight prohibited space based on the position information of the shovel100. Similarly, the controller 30 may determine a flight prohibitedspace by additionally taking into account the direction information ofthe shovel 100, the operation information of the shovel 100, and theorientation information of the excavation attachment.

Next, the controller 30 determines whether the aerial vehicle 200 existsin the flight prohibited space (step ST84). For example, when a distancebetween the predetermined point on the shovel 100 and the currentposition of the aerial vehicle 200 is less than or equal to thepredetermined distance, the controller 30 determines that the aerialvehicle 200 exists in the flight prohibited space.

When the controller 30 determines that the aerial vehicle 200 exists inthe flight prohibited space (yes in step ST84), the controller 30transmits information related to avoidance flight (step ST85). Forexample, the controller 30 transmits information related to avoidanceflight via the transmitter S1 to the aerial vehicle 200. The informationrelated to avoidance flight includes information related to a targetavoidance position, for example.

In this case, the controller 30 may forcibly restrict the movement ofthe hydraulic actuator. For example, when the shovel 100 is turning, thecontroller 30 may slow or stop the turning of the shovel 100. Thissecurely prevents the shovel 100 and the aerial vehicle 200 fromcontacting each other.

In a case where the controller 30 restricts the movement of thehydraulic actuator in response to the aerial vehicle 200 beingdetermined to exist in the flight prohibited space, the controller 30may indicate that the aerial vehicle 200 exists in the flight prohibitedspace to the operator of the shovel 100. For example, the controller 30may cause the display device 40 to display a text message indicatingthat the aerial vehicle 200 exists in the flight prohibited space.

When the controller 30 determines that the aerial vehicle 200 does notexist in the flight prohibited space (no in step ST84), the controller30 ends the process without transmitting information related toavoidance flight.

By repeatedly performing steps ST81 through ST85 at predeterminedcontrol intervals, the controller 30 can continuously send informationrelated to avoidance flight to the aerial vehicle 200 while the aerialvehicle 200 exists in the flight prohibited space.

The controller 201 of the aerial vehicle 200 repeatedly transmitsposition information of the aerial vehicle 200 at predetermined controlintervals (step ST91). For example, the controller 201 transmitsposition information of the aerial vehicle 200 to the shovel 100.

The controller 201 determines whether information related to avoidanceflight is received (step ST92).

When the controller 201 determines that information related to avoidanceflight is received (yes in step ST92), the controller 201 performsavoidance flight (step ST93). For example, the controller 201 moves theaerial vehicle 200 to a target avoidance position. To be more specific,the controller 201 outputs information related to a target avoidanceposition to the autonomous flight device 204. The autonomous flightdevice 204 uses GNSS (GPS) navigation, inertial navigation, or hybridnavigation combining GPS navigation with inertial navigation to move theaerial vehicle 200 to the target avoidance position.

When avoidance flight is performed, the controller 201 forcibly movesthe aerial vehicle 200 to the target avoidance position, regardless ofthe pilot's remote operation via the remote control 300. For example,even when the pilot is making the aerial vehicle 200 hover, thecontroller 201 forcibly moves the aerial vehicle 200 to the targetavoidance position.

As part of avoidance flight, the controller 201 may control the aerialvehicle 200 so as to prevent the aerial vehicle 200 from entering theflight prohibited space. For example, even when the pilot is making theaerial vehicle 200 enter the flight prohibited space through a remoteoperation, the controller 201 causes the aerial vehicle 200 to hover andprevents the aerial vehicle 200 from entering the flight prohibitedspace.

When avoidance flight is performed, the controller 201 forcibly movesthe aerial vehicle 200 to the target avoidance position, regardless ofthe pilot's remote operation via the remote control 300. For example,even when the pilot is making the aerial vehicle 200 hover, thecontroller 201 forcibly moves the aerial vehicle 200 to the targetavoidance position.

The remote control 300 may indicate, to the pilot, that the avoidanceflight is performed. For example, the remote control 300 causes thedisplay device 304 to display a text message indicating that theavoidance flight is performed.

When the controller 201 determines that information related to avoidanceflight is not received (no in step ST92), the controller 201 ends theprocess without performing avoidance flight.

By repeatedly performing step ST93 each time the controller 201 receivesinformation related to avoidance flight, the controller 201 prevents theaerial vehicle 200 from entering the flight prohibited space or causesthe aerial vehicle 200 to promptly move out of the flight prohibitedspace.

In the above-described configuration, it is possible to prevent theshovel 100 and the aerial vehicle 200 from contacting each other. To bemore specific, unlike the example of FIGS. 10A and 10B, instead oftransmitting position information of the shovel 100, the shovel 100transmits information related to avoidance flight generated based on theposition information. Therefore, the controller 201 of the aerialvehicle 200 can perform avoidance flight without performing a processfor generating information related to avoidance flight.

Further, when the aerial vehicle 200 is equipped with a plurality ofGNSS receivers, the controller 201 can identify a position and adirection (a rotation angle with respect to a reference orientation) ofthe aerial vehicle 200. In this case, by obtaining position informationand direction information of the shovel 100 and orientation informationof the excavation attachment, the controller 201 can compare a positionof a predetermined portion of the excavation attachment with a positionof the aerial vehicle 200 and can also compare a direction of theexcavation attachment with a direction of the aerial vehicle 200.Accordingly, avoidance flight of the aerial vehicle 200 can be performedin accordance with changes in the orientation and the direction of theexcavation attachment.

Next, referring to FIG. 13, yet another example of the contact avoidingprocess will be described. FIG. 13 is a flowchart illustrating yetanother example flow of the contact avoiding process. The example ofFIG. 13 differs from the examples of FIGS. 10A and 10B and FIGS. 12A and12B in that the controller 201 of the aerial vehicle 200 determines aflight prohibited space without receiving information from the shovel100.

First, the controller 201 of the aerial vehicle 200 obtains a capturedimage including a shovel image (step ST101). For example, the controller201 obtains an image captured by the camera 205 of the aerial vehicle200. The captured image includes a shovel image that is an image of theshovel 100.

Next, the controller 201 calculates a relative position of the shovel100 (step ST102). For example, the controller 201 identifies the shovelimage included in the captured image by applying image processing suchas pattern matching to the captured image. Based on a positionalrelationship between the position of the identified shovel image and thecenter of the captured image, the controller 201 can calculate arelative position of the shovel 100 with respect to the position of theaerial vehicle 200 in real space. The position and the direction of theshovel image with respect to the center of the captured image correspondto the position and the direction of the shovel 100 with respect to theposition of the aerial vehicle 200. The relative position of the shovel100 includes a vertical distance and a horizontal distance between theshovel 100 and the aerial vehicle 200. The vertical distance iscalculated based on the size of the shovel image in the captured image.The horizontal distance is calculated based on the position of theshovel image in the captured image.

The controller 201 may calculate a relative direction of the shovel 100with respect to a direction of the aerial vehicle 200 based on theidentified shovel image. The relative direction of the shovel 100 withrespect to the direction of the aerial vehicle 200 is calculated basedon an angle between an extending direction of an excavation attachmentimage included in the captured image and a vertical axis of the capturedimage. The vertical axis of the captured image corresponds to thedirection of the aerial vehicle 200.

Next, the controller 201 determines a flight prohibited space (stepST103). For example, the controller 201 determines a flight prohibitedspace based on the relative position of the shovel 100 calculated instep ST102. To be more specific, the controller 201 obtains a point ofintersection between a ground contact plane and the turning axis of theshovel 100 as a relative position. Based on the point of intersection,the controller 201 obtains a space within a range of a predetermineddistance as a flight prohibited space.

Next, the controller 201 determines whether the aerial vehicle 200exists in the flight prohibited space (step ST104). For example, thecontroller 201 determines whether the aerial vehicle 200 exists in theflight prohibited space based on the position and the size of the shovelimage in the captured image. To be more specific, when the shovel imageof the shovel 100 exists within a range of a predetermined number ofpixels from the center of the captured image and also when the size ofthe shovel image is greater than or equal to a predetermined size, thecontroller 201 determines that the aerial vehicle 200 exists in theflight prohibited space belonging to the shovel 100. This is because,when the aerial vehicle 200 exists in the flight prohibited spacebelonging to the shovel 100, the shovel image of the shovel 100 appearsin a size greater than or equal to the predetermined size in apredetermined range.

Alternatively, the controller 201 may calculate the current position ofthe aerial vehicle 200 based on an output from the autonomous flightdevice 204, and calculate a distance between the above-described pointof intersection and the current position of the aerial vehicle 200. Whenthe distance is less than or equal to the predetermined distance, thecontroller 201 may determine that the aerial vehicle 200 exists in theflight prohibited space. In a case where the flight prohibited space isdetermined by taking into account the direction information, theoperation information, and the orientation information of the shovel100, the controller 201 may additionally calculate a presence directionof the aerial vehicle 200 relative to the point of intersection based onan output from the autonomous flight device 204.

When the controller 201 determines that the aerial vehicle 200 exists inthe flight prohibited space (yes in step ST104), the controller 201performs avoidance flight (step ST105). For example, the controller 201moves the aerial vehicle 200 to a target avoidance position.

In order to perform the avoidance flight, the controller 201 forciblymoves the aerial vehicle 200 to the target avoidance position,regardless of the pilot's remote operation via the remote control 300.Further, the controller 201 may transmit the movement restrictioncommand to the shovel 100. Further, as part of the avoidance flight, thecontroller 201 may control the aerial vehicle 200 so as to prevent theaerial vehicle 200 from entering the flight prohibited space.

The remote control 300 may indicate, to the pilot, that the avoidanceflight is performed. Similarly, when the avoidance flight is performed,specifically when the movement of the hydraulic actuator is restrictedalong with the avoidance flight, the controller 30 of the shovel 100 mayindicate, to the operator of the shovel 100, that the avoidance flightis performed.

When the controller 201 determines that the aerial vehicle 200 does notexist in the flight prohibited space (no in step ST104), the controller201 ends the process without performing avoidance flight.

By repeatedly performing steps ST102 through ST105 each time thecontroller 201 receives a captured image, the controller 201 preventsthe aerial vehicle 200 from entering the flight prohibited space orcauses the aerial vehicle 200 to promptly move out of the flightprohibited space.

In a case where the contact avoiding process of FIG. 13 is employed, thereceiver S2 of the shovel 100 may be omitted.

In the above-described configuration, it is possible to prevent theshovel 100 and the aerial vehicle 200 from contacting each other. To bemore specific, unlike the examples of FIGS. 8A and 8B and FIGS. 10A and10B, the aerial vehicle 200 can identify a flight prohibited spacebelonging to the shovel 100 without receiving information generated bythe shovel 100. Further, the aerial vehicle 200 can autonomously fly soas not to enter the flight prohibited space belonging to the shovel 100.Also, when the aerial vehicle 200 is located in the flight prohibitedspace, the aerial vehicle 200 autonomously flies so as to promptly moveout of the flight prohibited space.

Next, referring to FIG. 14 and FIGS. 15A1 through 15C2, an imagerotation function that is yet another function of the work supportsystem will be described. The image rotation function is a function forrotating an image captured by the camera 205 of the aerial vehicle 200,such that the captured image is displayed in a predetermined directionon the display device 40 of the shovel 100. FIG. 14 is a side viewillustrating the shovel 100 performing excavation work and loading work,the aerial vehicle 200 flying and following the shovel 100, and the dumptruck 400 receiving sediment discharged from the shovel 100. FIGS. 15A1through 15C2 illustrate relative positional relationships between theshovel 100, the aerial vehicle 200, and the dump truck 400, and alsoillustrate three combinations of captured images displayed on thedisplay device 40. FIG. 15A1, FIG. 15B1, and FIG. 15C1 illustraterelative positional relationships, and FIG. 15A2, FIG. 15B2, and FIG.15C2 illustrate captured images displayed on the display device 40.Further, FIGS. 15A1 and 15A2 correspond, FIG. 15B1 and FIG. 15B2correspond, and FIG. 15C1 and FIG. 15C2 correspond.

In the examples illustrated in FIG. 14 and FIG. 15A1, the shovel 100performs excavation work with the excavation attachment being turned ina +Y direction. Further, as illustrated in arrow AR2 of FIG. 14, theshovel 100 performs loading work for loading sediment onto a deck of thedump truck 400 with the excavation attachment turned in a +X directionby being turned left as indicated by an arrow AR2. The aerial vehicle200 flies and follows the shovel 100 by flying directly above the armend position of the excavation attachment while maintaining apredetermined flight altitude.

Further, as illustrated in FIG. 15A1, when the shovel 100 is performingthe excavation work with the excavation attachment being turned in the+Y direction, the aerial vehicle 200 is facing the same +Y direction asthe direction of the excavation attachment. A black triangle marked inthe aerial vehicle 200 in the FIG. 15A1 indicates that the aerialvehicle 200 is facing the +Y direction. In this case, as illustrated inFIG. 15A2, the display device 40 displays a captured image such that anarm end position image is located in the center of the screen and anexcavation attachment image extends in parallel to the vertical axis ofthe display device 40.

When the excavation attachment is turned in the +X direction by beingturned left after the excavation work, the arm front end position movesdirectly above the deck of the dump truck 400 as illustrated in FIG.15B1. At this time, when the direction of the aerial vehicle 200following the movement the arm end position is fixed, the display device40 displays a captured image such that an excavation attachment imageextends in parallel to the horizontal axis of the display device 40.

However, if the direction of the excavation attachment image displayedon the display device 40 changes in accordance with the turning angle ofthe upper turning body 3, the operator looking at the image may beconfused.

Accordingly, in the example illustrated in FIG. 15C1, the aerial vehicle200 following the movement of the arm end position changes its directionin accordance with the change in the turning angle of the upper turningbody 3. Therefore, when the excavation attachment is turned in the +Xdirection, the aerial vehicle 200 also faces the +X direction. As aresult, as illustrated in FIG. 15C2, the display device 40 displays acaptured image such that an excavation attachment image extends inparallel to the vertical axis of the display device 40. Namely,regardless of changes in the turning angle of the upper turning body 3,the display device can display a captured image such that an excavationattachment image extends in parallel to the vertical axis of the displaydevice 40.

Next, referring to FIGS. 16A and 16B, an example of a process forperforming the image rotation function (hereinafter referred to as an“image rotation process”) will be described. FIG. 16A is a flowchartillustrating a process flow performed by the shovel 100. FIG. 16B is aflowchart illustrating a process flow performed by the aerial vehicle200. In the example of FIGS. 16A and 16B, by using position informationof the shovel 100 and orientation information of the excavationattachment, the aerial vehicle 200 follows the shovel 100 byautonomously flying directly above the arm end position. However, thedescription below also applies to a case in which the aerial vehicle 200is remotely operated by the pilot via the remote control 300.

First, the controller 30 of the shovel 100 obtains direction informationof the shovel 100 (step ST111). The controller 30 obtains an absoluteazimuth of the shovel 100 based on an output from the directiondetecting device S5, for example.

Next, the controller 30 transmits the direction information to theoutside (step ST112). For example, the controller 30 transmits thedirection information to the aerial vehicle 200 via the transmitter S1.

By repeatedly performing Steps ST111 and ST112 at predetermined controlintervals, the controller 30 can continuously send direction informationof the shovel 100 to the aerial vehicle 200.

The controller 201 of the aerial vehicle 200 receives the directioninformation of the shovel 100 (step ST121). For example, the controller201 receives, via the receiver 203, the direction information of theshovel 100 transmitted from the controller 30 of the shovel 100.

Next, the controller 201 determines a target rotation angle (stepST122). For example, the controller 201 determines a target rotationangle based on the direction information of the shovel 100 and directioninformation of the aerial vehicle 200. The target rotation angle is atarget angle by which the aerial vehicle 200 rotates when changingdirections. For example, in order to change the direction of the aerialvehicle 200 in accordance with the direction of the shovel 100(excavation attachment), an angle between the direction of the shovel100 and the direction of the aerial vehicle 200 is set as a targetrotation angle. The controller 201 calculates direction information ofthe aerial vehicle 200 based on an output from the autonomous flightdevice 204.

Alternatively, the controller 201 may determine a target rotation angleof the aerial vehicle 200 based on a change in direction of the shovel100. For example, an angle between a direction of the shovel 100received in the previous process and a direction of the shovel 100received in the current process may be set as a target rotation angle.

Next, the controller 201 causes the aerial vehicle 200 to rotate by thetarget rotation angle (step ST123). For example, the controller 201transmits information related to the target rotation angle to theautonomous flight device 204. For example, among the four propellers, byadjusting the rotational speed of two propellers rotating in the samerotating direction, the autonomous flight device 204 rotates the aerialvehicle 200 by the target rotation angle. The controller 201 forciblycauses the aerial vehicle 200 to rotate by the target rotation angleeven when the aerial vehicle 200 is remotely operated.

By repeatedly performing step ST122 and step ST123 each time thecontroller 201 receives direction information of the shovel 100, thecontroller 30 can continuously change the direction of the aerialvehicle according to the direction of the shovel 100.

In the above-described configuration, the shovel 100 can cause thedisplay device 40 in the cabin 10 to display, in a predetermineddirection, an image captured by the camera 205 mounted on the aerialvehicle 200 so as to present the image to the operator of the shovel100. The predetermined direction is a direction in which an excavationattachment image extends in parallel to the vertical axis of the displaydevice 40, and the predetermined direction changes according to theturning angle of the upper turning body 3.

Further, the shovel 100 can cause the aerial vehicle 200 to rotate bytransmitting information related to the direction of the aerial vehicle200 via the transmitter S1. For example, the shovel 100 can rotate theaerial vehicle 200 such that the direction of the shovel 100 and thedirection of the aerial vehicle 200 match. As a result, the aerialvehicle 200 can fly and follow the shovel 100 while maintaining arelative angle between the direction of the shovel 100 and the directionof the aerial vehicle 200. Accordingly, the display device 40 candisplay an excavation attachment image such that the excavationattachment image always extends in parallel to or vertical to thevertical axis of the display device 40.

Further, the shovel 100 can rotate the aerial vehicle 200 withoutreceiving information transmitted from the aerial vehicle 200. As theaerial vehicle 200 can determine a target rotation angle of the aerialvehicle 200 based on direction information of the shovel 100, the shovel100 may only be required to transmit the direction information of theshovel 100.

Further, in the example of FIGS. 16A and 16B, the aerial vehicle 200follows the shovel 100 by autonomously flying directly above the arm endposition in such a manner that there is no positional shift between thearm end position (XY coordinates or XYZ coordinates) and the position(XY coordinates or XYZ coordinates) of the aerial vehicle 200.Accordingly, an arm end position image is always displayed in the centerof the screen of the display device 40. However, even if there is apositional shift, such a positional shift can be handled by the worksupport system.

For example, in step ST121, in a case where position information of theshovel 100 and orientation information of the excavation attachment arereceived in addition to the direction information of the shovel 100, thecontroller 201 can calculate a direction and a size of a positionalshift. To be more specific, based on the position information of theshovel 100 and the orientation information of the excavation attachmentand also based on position information of the aerial vehicle 200 outputfrom the autonomous flight device 204, the controller 201 can calculatethe direction and the size of the positional shift. Further, based onthe direction and the size of the positional shift, the controller 201can calculate the position of a pixel that is expected to be located inthe center of a captured image. Accordingly, the controller 201 cangenerate the captured image such that the pixel is located in the centerof the captured image. The pixel located in the center of the capturedimage is, for example, a pixel forming an image of the arm end position.Therefore, even if there is a positional shift, the image of the arm endposition can be displayed in the center of the screen of the displaydevice 40.

Next, referring to FIGS. 17A and 17B, another example of the imagerotation process will be described. FIG. 17A is a flowchart illustratinga process flow performed by the shovel 100. FIG. 17B is a flowchartillustrating a process flow performed by the aerial vehicle 200. Theexample of FIGS. 17A and 17B differs from the example of FIGS. 16A and16B in that the controller 30 of the shovel 100 calculates and transmitsa target rotation angle. In the example of FIGS. 16A and 16B, thecontroller 30 transmits direction information of the shovel 100, and thecontroller 201 of the aerial vehicle 200 calculates a target rotationangle based on the direction information of the shovel 100. Also, in theexample of FIGS. 17A and 17B, the aerial vehicle 200 follows the shovel10 by flying directly above the arm end position by using positioninformation of the shovel 10 and orientation information of theexcavation attachment.

First, the controller 30 obtains direction information of the shovel 100(step ST131). For example, the controller 30 obtains an absolute azimuthof the shovel 100 based on an output from the direction detecting deviceS5.

Next, the controller 30 obtains direction information of the aerialvehicle 200 (step ST132). For example, the controller 30 receivesdirection information of the aerial vehicle 200 via the receiver S2. Theaerial vehicle 200 transmits the direction information of the aerialvehicle 200, obtained based on the output from the autonomous flightdevice 204, to the shovel 100.

Next, the controller 30 determines a target rotation angle (step ST133).For example, the controller 30 determines a target rotation angle basedon the direction information of the shovel 100 and the directioninformation of the aerial vehicle 200. Alternatively, the controller 30may determine a target rotation angle of the aerial vehicle 200 based ona change in direction of the shovel 100.

Next, the controller 30 transmits the target rotation angle to theoutside (step ST134). For example, the controller 30 transmits thetarget rotation angle to the aerial vehicle 200 via the transmitter S1.

By repeatedly performing steps ST131 through ST134 at predeterminedcontrol intervals, the controller 30 can continuously send informationrelated to the target rotation angle to the aerial vehicle 200.

The controller 201 of the aerial vehicle 200 repeatedly transmitsdirection information of the aerial vehicle 200 at predetermined controlintervals (step ST141). For example, the controller 201 transmitsdirection information of the aerial vehicle 200 to the shovel 100.

The controller 201 receives the target rotation angle (step ST142). Forexample, the controller 201 receives, via the receiver 203, the targetrotation angle transmitted from the controller 30 of the shovel 100.

Next, the controller 201 causes the aerial vehicle 200 to rotate by thetarget rotation angle (step ST143).

By repeatedly performing step ST143 each time the controller 201receives target rotation angle, the controller 201 can continuouslychange the direction of the aerial vehicle according to the direction ofthe shovel 100.

In the above-described configuration, similarly to the example of FIGS.16A and 16B, the shovel 100 can cause the display device 40 in the cabin10 to display, in a predetermined direction, an image captured by thecamera 205 mounted on the aerial vehicle 200 so as to present the imageto the operator of the shovel 100.

Further, the shovel 100 can cause the aerial vehicle 200 to rotate bytransmitting information related to the target rotation angle of theaerial vehicle 200 via the transmitter S1. Therefore, the shovel 100 cancause the aerial vehicle 200 to rotate without causing the aerialvehicle 200 to calculate the target rotation angle of the aerial vehicle200. This is because the aerial vehicle 200 can simply rotate accordingto information related to the target rotation angle generated by theshovel 100.

Further, similarly to the example of FIGS. 16A and 16B, in the exampleof FIGS. 17A and 17B, even if there is a positional shift, such apositional shift can be handled by the work support system.

For example, in step ST132, in a case where position information of theaerial vehicle 200 is received in addition to the direction informationof the shovel 100, the controller 30 can calculate a direction and asize of a positional shift based on the position information of theshovel 100, the orientation information of the excavation attachment,and the position information of the aerial vehicle 200. Further, basedon the direction and the size of the positional shift, the controller 30can calculate the position of a pixel that is expected to be located inthe center of a captured image. The controller 30 transmits informationrelated to the position of the pixel to the aerial vehicle 200. Upon thecontroller 201 of the aerial vehicle 200 receiving the informationrelated to the position of the pixel, the controller 201 can generatethe captured image such that the pixel is located in the center of thecaptured image. Therefore, even if there is a positional shift, adesired image can be displayed in the center of the screen of thedisplay device 40.

Next, referring to FIGS. 18A and 18B, yet another example of the imagerotation process will be described. FIG. 18A is a flowchart illustratinga process flow performed by the shovel 100. FIG. 18B is a flowchartillustrating a process flow performed by the aerial vehicle 200. Theexample of FIGS. 18A and 18B differs from the example of FIGS. 17A and17B in that the controller 201 of the aerial vehicle 200 rotates acaptured image by a target rotation angle (step ST163), instead ofrotating the aerial vehicle 200 by the target rotation angle (stepST143). Steps ST151 through ST154 are the same as steps ST131 throughST134, and steps ST161 through ST162 are the same as steps ST141 throughST142. Therefore, in the example of FIGS. 18A and 18B, by using positioninformation of the shovel 100 and orientation information of theexcavation attachment, the aerial vehicle 200 follows the shovel 100 byflying directly above the arm end position without changing directions.

In the above-described configuration, similarly to the examples of FIGS.16A and 16B and FIGS. 17A and 17B, the shovel 100 can cause the displaydevice 40 in the cabin 10 to display, in a predetermined direction, animage captured by the camera 205 mounted on the aerial vehicle 200 so asto present the image to the operator of the shovel 100. Further, it ispossible for the aerial vehicle 200 to implement the image rotationfunction by only performing image processing without actually rotatingthe aerial vehicle 200.

Next, referring to FIG. 19, yet another example of the image rotationprocess will be described. The example of FIG. 19 differs from theexamples of FIG. 16A through FIG. 18B in that the shovel 100 performsall steps related to the image rotation function without causing theaerial vehicle 200 to perform any of the steps related to the imagerotation function. To be more specific, the example of FIG. 19 differsfrom the example of FIGS. 18A and 18B in that the controller 30 rotatesa captured image by the target rotation angle (step ST174) instead oftransmitting a target rotation angle (step ST154). Steps ST151 throughST153 are the same as steps ST171 through ST173. Therefore, in theexample of FIG. 19, information is not required to be transmitted fromthe shovel 100, and thus the transmitter S1 may be omitted.

In the above-described configuration, similarly to the examples of FIG.16A through FIG. 18B, the shovel 100 can cause the display device 40 inthe cabin 10 to display, in a predetermined direction, an image capturedby the camera 205 mounted on the aerial vehicle 200 so as to present theimage to the operator of the shovel 100. Further, it is possible for theshovel 100 to implement the image rotation function by only performingimage processing without actually rotating the aerial vehicle 200.

Further, the controller 30 may identify the excavation attachment byanalyzing object detection information obtained by the aerial vehicle200 flying and following the shovel 100. For example, the controller 30may identify an excavation attachment image by analyzing an imagecaptured by the camera 205. Further, the controller 30 may rotate anddisplay the captured image, such that the extending direction of theidentified excavation attachment image becomes parallel to the verticalaxis of the captured image and also the end position of the excavationattachment image faces the upper portion of the screen of the displaydevice 40. This is because the operator of the shovel faces theexcavation attachment side. This configuration allows the controller 30to implement the image rotation function without comparing directioninformation of the shovel 100 with direction information of the aerialvehicle 200.

Further, the work support system may cause the shovel 100 to perform allthe steps related to the image rotation function without causing theaerial vehicle 200 to perform any of the steps related to the imagerotation function.

Next, referring to FIGS. 20A through 20B2, another example of the imagerotation function will be described. FIG. 20A is a top view illustratingthe shovel 100 performing excavation work and loading work, the aerialvehicle 200 flying and following the shovel 100, and the dump truck 400receiving sediment discharged from the shovel 100. FIG. 20B1 and FIG.20B2 illustrate images captured by the camera 205 of the aerial vehicle200 in FIG. 20A.

In the example of FIG. 20A, in order to identify a loading state of thedump truck 400, the aerial vehicle 200 hovers while maintaining apredetermined flight altitude so as to remain in a predeterminedposition between the shovel 100 and the dump truck 400. For example, thepredetermined position is an intermediate position between the rear endposition of the dump truck 400 and the turning axis of the shovel 100.The rear end position of the dump truck 400 is obtained by applyingimage processing to a captured image of the camera 205. Further, theaerial vehicle 200 hovers while staying in a predetermined directionregardless of whether the shovel 100 turns. In the example of FIG. 20A,the aerial vehicle 200 hovers while facing a +Y direction. A blacktriangle marked in the aerial vehicle 200 of FIG. 20A indicates that theaerial vehicle 200 is facing the +Y direction. In this case, asillustrated in FIG. 20B1, the display device 40 displays an capturedimage such that an image of the excavation attachment performing loadingwork to the dump truck extends in parallel to the horizontal axis of thedisplay device 40.

However, when the image of the excavation attachment performing loadingwork to the dump truck is displayed so as to extend in parallel to thehorizontal axis of the display device 40, the operator looking at theimage may be confused. This is because the actual direction of theexcavation attachment greatly differs from the direction of the image ofthe excavation attachment displayed on the display device 40.

Therefore, the controller 30 of the shovel 100 or the controller 201 ofthe aerial vehicle 200 rotates the captured image such that thedirection of the image of the excavation attachment performing loadingwork to the dump truck becomes the same as the actual direction of theexcavation attachment. As a result, the display device 40 can displaythe captured image such that the image of the excavation attachmentperforming loading work to the dump truck extends in parallel to thevertical axis of the display device 40.

Next, referring to FIGS. 21A through 23B, a machine guidance functionthat is yet another function of the work support system will bedescribed. The machine guidance function is a function for guiding anoperation of the shovel 100 based on an image captured by the camera 205of the aerial vehicle 200.

FIGS. 21A and 21B are drawings for explaining a method for obtaining aposition and a direction of the shovel 100 based on an image captured bythe camera 205 of the aerial vehicle 200. FIG. 21A is a side viewillustrating the shovel 100 and the aerial vehicle 200 flying above theshovel 100. FIG. 21B illustrates a captured image displayed on thedisplay device. Dash lines illustrated in FIG. 21B are not actuallydisplayed on the display device 40.

As illustrated in FIG. 21A, the shovel 100 is located on a referenceplane BP. The reference plane BP is a plane defined by reference pointsRP1 and RP2. The reference points RP1 and RP2 are accurately measuredabsolute positions (latitude, longitude, and altitude), and for example,are electronic reference points (GNSS continuous observation points). Inthis example, D1 denotes a distance in meter between the reference pointRP1 and the reference point RP2. The reference points RP1 and RP2correspond to marker images MK1 and MK2, respectively, in a capturedimage illustrated in FIG. 21B. Namely, in the display device 40, thereference point RP1 is represented as a marker MK1. Similarly, in thedisplay device 40, the reference point RP2 is represented as a markerMK2. The marker images MK1 and MK2 are used to calculate a distance (thenumber of pixels) between two points in a captured image.

On the upper turning body 3 of the shovel 100, three marks RP3 throughRP5 are placed (the mark RP5 is not illustrated). The marks RP3 throughRP5 correspond to marker images MK3 through MK5, respectively, in thecaptured image illustrated in FIG. 21B. Namely, in the display device40, the mark RP3 is represented as a marker MK3. Similarly, in thedisplay device 40, the mark RP4 is represented as a marker MK4.Similarly, in the display device 40, the mark RP5 is represented as amarker MK5. The marker images MK3 through MK5 are used to identify adirection of a shovel image (an image of the shovel 100). The number ofmarks placed on the upper turning body 3 may be less than or equal tothree or greater than or equal to four, as long as the direction of theshovel image (the image of the shovel 100) can be identified in thecaptured image. Further, marks corresponding to marker images may beexisting shovel components such as the cabin 10 and an engine hood, ormay be the upper turning body 3 itself. A combination of marker imagescorresponding to marks may form a symbol such as a QR code (registeredtrademark).

By using a known image processing technique, the marker images MK1through MK5 are extracted, and coordinates in the captured image areidentified.

To be more specific, based on the known distance D1 between thereference point RP1 and the reference point RP2 and a distance (thenumber of pixels) GD1 between the marker image MK1 and the marker imageMK2 in the captured image illustrated in FIG. 21B, the controller 30 cancalculate an actual distance corresponding to a unit distance (thenumber of pixels) in the captured image. For example, a distance of 100pixels in a captured image can correspond to 1 meter in real space. As aresult, based on a distance (the number of pixels) GD2 between thecenter point SC of the shovel 100 and the marker image MK2 in thecaptured image, a distance between the center point SC of the shovel 100and the reference point RP2 in real space can be calculated. The centerpoint SC is, for example, a point of intersection between the turningaxis of the shovel 100 and the reference plane BP. The center point SCcan be calculated based on the coordinates of the three marker imagesMK3 through MK5.

Further, based on a known orientation of the reference point RP1relative to the reference point RP2 and also based on an angle 91between a line segment L1 and a line segment L2 in the captured imageillustrated in FIG. 21B, the controller 30 can calculate an orientationof the center point SC of the shovel 100 relative to the reference pointRP2. The line segment L1 is a line segment connecting the marker imageMK1 and the marker image MK2. The line segment L2 is a line segmentconnecting the marker image MK2 and the center point SC.

In this way, the controller 30 can calculate a distance between thecenter point SC of the shovel 100 and the reference point RP2 in realspace, and calculate an orientation of the center point SC of the shovel100 relative to the reference point RP2. Further, based on the absoluteposition of the reference point RP2, the controller 30 can calculate anabsolute position of the center point SC of the shovel 100.

Further, based on the coordinates of the three marker images MK3 throughMK5, the controller 30 can calculate a line segment L3 on the referenceplane BP. The line segment L3 indicates a longitudinal direction of theexcavation attachment. Accordingly, the controller 30 can calculate anangle 82 between the line segment L3 and a line segment L1′ parallel tothe line segment L1 and passing through the center point SC.

As a result, based on the known orientation of the reference point RP1relative to the reference point RP2, the controller 30 can obtain anorientation indicated by the longitudinal direction of the excavationattachment. Further, a turning angle can be calculated based on changesin orientation indicated by the longitudinal direction of the excavationattachment. For example, a turning angle can be calculated based on anorientation indicated by the longitudinal direction of the excavationattachment at a time when the excavation attachment starts turning andalso based on an orientation indicated by the longitudinal direction ofthe excavation attachment at a time when the excavation attachment stopsturning.

Further, the controller 30 can obtain an orientation of the excavationattachment based on an output from the orientation detecting device S4so as to calculate a relative position of the front edge of the bucket6. Further, based on the relative position of the front edge of thebucket 6 and the absolute position of the center point SC, thecontroller 30 can calculate an absolute position of the front edge ofthe bucket 6.

Further, by referring to design data stored in a non-volatile storagemedium, the controller 30 can calculate a distance between a targetconstruction surface and the front edge of the bucket 6. The targetconstruction surface is a target surface after construction and isrepresented by latitude, longitude, and altitude.

FIGS. 22A through 22C are drawings for explaining a method for obtainingthe height or the depth of a ground contact plane of the shovel 100 withrespect to the reference plane BP based on an image captured by theaerial vehicle 200. FIG. 22A is a side view illustrating the shovel 100located on the reference plane BP and the aerial vehicle 200 flyingabove the shovel 100. FIG. 22B illustrates a captured image displayed onthe display device 40. Dash lines illustrated in FIG. 22B are notactually displayed on the display device 40. FIG. 22C is a side viewillustrating the shovel 100 located on a ground contact plane deeperthan the reference plane BP by depth DP1 and the aerial vehicle 200flying above the shovel 100.

The controller 30 obtains the height or the depth of the ground contactplane of the shovel 100 based on a distance (the number of pixels) GD10between a marker image MK1 and a marker image MK2 and also based on adistance (the number of pixels) GD11 between a marker image MK3 and amarker image MK4. The distance (the number of pixels) GD10 correspondsto the actual distance D1 between the reference point RP1 and thereference point RP2. A distance (the number of pixels) GD11 correspondsto an actual distance D2 between the mark RP3 and the mark RP4.

For example, when a distance ratio of the distance (the number ofpixels) GD10 to the distance (the number of pixels) GD11 is equal to apreliminarily stored predetermined value, the controller 30 determinesthat the shovel 100 is located on the reference plane BP as illustratedin FIG. 22A. Also, as the distance ratio becomes larger than thepredetermined value, the controller 30 determines that the groundcontact plane of the shovel 100 becomes lower than the reference planeBP as illustrated in FIG. 22C. This is because, in the captured image,as the ground contact plane of the shovel 100 becomes lower than thereference plane BP, a shovel image becomes smaller in appearance. Thus,the distance (the number of pixels) GD11 becomes relatively smaller withrespect to the distance (the number of pixels) GD10.

Similarly, as the distance ratio becomes smaller than the predeterminedvalue, the controller determines that the ground contact plane of theshovel 100 becomes higher than the reference plane BP. This is because,in the captured image, as the ground contact plane of the shovel 100becomes higher than the reference plane BP, the shovel image becomeslarger in appearance. Thus, the distance (the number of pixels) GD11becomes relatively larger with respect to the distance (the number ofpixels) GD10.

The controller 30 obtains the depth or the height of the ground contactplane based on the distance ratio. Correspondence relationships betweeneach distance ratio and depth or height of the ground contact plane arepreliminarily stored as a correspondence table in the non-volatilestorage medium. By referring to the correspondence table, the controller30 obtains the depth or the height of the ground contact plane based onthe distance ratio.

In the above-described example, a monocular camera is employed as thecamera 205 of the aerial vehicle 200, but a stereo camera may beemployed. In this case, the controller 30 may obtain the depth or theheight of the ground contact plane of the shovel 100 with respect to thereference plane BP based on a pair of captured images output from thestereo camera.

Next, referring to FIGS. 23A and 23B, a process for performing themachine guidance function (hereinafter referred to as a “machineguidance process”) by the work support system will be described. FIGS.23A and 23B are flowcharts illustrating an example of the machineguidance process. To be more specific, FIG. 23A illustrates a processflow performed by the aerial vehicle 200. FIG. 23B illustrates a processflow performed by the shovel 100. The controller 201 of the aerialvehicle 200 repeatedly performs the process illustrated in FIG. 23A atpredetermined control intervals. Similarly, the controller 30 of theshovel 100 repeatedly performs the process illustrated in FIG. 23B atpredetermined control intervals. In the example of FIGS. 23A and 23B, byusing an image processing technique, the aerial vehicle 200 follows theshovel 100 by autonomously flying directly above the shovel 100.However, the example below also applies to a case in which the aerialvehicle 200 is remotely operated by the pilot via the remote control300.

First, the controller 201 of the aerial vehicle 200 captures an image ofthe shovel 100 (step ST181). For example, the controller 201 obtains animage captured by the camera 205 of the aerial vehicle 200 flying abovethe shovel 100. As illustrated in FIG. 21B, the captured image includesa shovel image, which is an image of the shovel 100, marker images MK1and MK2, which are images of reference points RP1 and RP2, and markerimages MK3 through MK5, which are images of the marks RP3 through RP5placed on the upper turning body 3.

Next, the controller 201 transmits the captured image including themarker images MK1 through MK5 and the shovel image to the shovel 100(step ST182).

The controller 30 of the shovel 100 obtains the captured image includingthe marker images MK1 through MK5 and the shovel image (step ST191). Forexample, the controller 30 receives, via the receiver S2, the capturedimage transmitted from the controller 201 of the aerial vehicle 200 tothe shovel 100.

Next, the controller 30 calculates position information and directioninformation of the shovel 100 based on the captured image (step ST192).For example, by using the method explained with reference to FIGS. 21Athrough 22C, the controller 30 calculates an absolute position of thecenter point SC of the shovel 100 and calculates an orientationindicated by the longitudinal direction of the excavation attachment.

Next, the controller 30 calculates a position of the front edge of thebucket 6 based on an orientation of the excavation attachment (stepST193). For example, the controller 30 obtains an orientation of theexcavation attachment based on an output from the orientation detectingdevice S4, and calculates a relative position of the front edge of thebucket 6 with respect to the center point SC of the shovel 100. Based onthe relative position, the absolute position of the center point SC, andthe orientation indicated by the longitudinal direction of theexcavation attachment, the controller 30 calculates an absolute positionof the front edge of the bucket 6.

Next, the controller 30 calculates a distance between the front edge ofthe bucket 6 and the target construction surface (step ST194). Forexample, the controller 30 calculates a distance between the targetconstruction surface and the front edge of the bucket 6 by referring tothe design data stored in the non-volatile storage medium. Thecontroller 30 can graphically display transition of distance between thetarget construction surface and the front edge of the bucket 6 on thedisplay device in the cabin 10 and present the same to the operator ofthe shovel 100 so as to guide the operator through the operation of theshovel.

Next, referring to FIGS. 24A and 24B, another example of the machineguidance process will be described. FIGS. 24A and 24B are flowchartsillustrating the example of the machine guidance process. Specifically,FIG. 24A illustrates a process flow performed by the aerial vehicle 200.FIG. 24B illustrates a process flow performed by the shovel 100.

The controller 201 of the aerial vehicle 200 repeatedly performs theprocess illustrated in FIG. 24A at predetermined control intervals.Similarly, the controller 30 of the shovel 100 repeatedly performs theprocess illustrated in FIG. 24B at predetermined control intervals. Theexample of FIGS. 24A and 24B differs from the example of FIGS. 23A and23B in that the controller 201 of the aerial vehicle 200 calculatesposition information and direction information of the shovel 100. In theexample of FIGS. 23A and 23B, the controller 30 of the shovel 100calculates position information and direction information of the shovel100.

First, the controller 201 of the aerial vehicle 200 captures an image ofthe shovel 100 (step ST201). For example, the controller 201 obtains animage captured by the camera 205 of the aerial vehicle 200 flying abovethe shovel 100. As illustrated in FIG. 21B, the captured image includesa shovel image, which is an image of the shovel 100, marker images MK1and MK2, which are images of the reference points RP1 and RP2, andmarker images MK3 through MK5, which are images of the marks RP3 throughRP5 placed on the upper turning body 3.

Next, the controller 201 calculates position information and directioninformation of the shovel 100 based on the captured image (step ST202).For example, by using the method explained with reference to FIGS. 21Athrough 22C, the controller 30 calculates an absolute position of thecenter point SC of the shovel 100 and calculates an orientationindicated by the longitudinal direction of the excavation attachment.

Next, the controller 201 transmits the position information and thedirection information of the shovel 100 to the shovel 100 (step ST203).

The controller 30 of the shovel 100 obtains the position information andthe direction information of the shovel 100 (step ST211). For example,the controller 30 receives, via the receiver S2, the positioninformation and the direction information of the shovel 100 transmittedfrom the controller 201 of the aerial vehicle 200 to the shovel 100.

Next, the controller 30 calculates a position of the front edge of thebucket 6 based on an orientation of the excavation attachment (stepST212). For example, the controller 30 obtains an orientation of theexcavation attachment based on an output from the orientation detectingdevice S4, and calculates a relative position of the front edge of thebucket 6 with respect to the center point SC of the shovel 100. Based onthe relative position, the absolute position of the center point SC, andthe orientation indicated by the longitudinal direction of theexcavation attachment, the controller 30 calculates an absolute positionof the front edge of the bucket 6.

Next, the controller 30 calculates a distance between the front edge ofthe bucket 6 and the target construction surface (step ST213). Forexample, the controller 30 calculates a distance between the targetconstruction surface and the front edge of the bucket 6 by referring tothe design data stored in the non-volatile storage medium. Thecontroller 30 can graphically display transition of distance between thetarget construction surface and the front edge of the bucket 6 on thedisplay device in the cabin 10 and present the same to the operator ofthe shovel 100 so as to guide the operator through the operation of theshovel.

In the above described configuration, by using an image, includingmarker images, captured by the aerial vehicle 200, the controller 30 canperform the machine guidance function by identifying the position andthe direction of the shovel 100 without using a positioning device suchas a GNSS (GPS) receiver.

Next, referring to FIGS. 25A and 25B, yet another example of the machineguidance process will be described. FIGS. 25A and 25B are flowchartsillustrating yet another example of the machine guidance process.Specifically, FIG. 25A illustrates a process flow performed by theaerial vehicle 200. FIG. 25B illustrates a process flow performed by theshovel 100. The controller 201 of the aerial vehicle 200 repeatedlyperforms the process illustrated in FIG. 25A at predetermined controlintervals. Similarly, the controller 30 of the shovel 10 repeatedlyperforms the process illustrated in FIG. 25B at predetermined controlintervals. The example of FIGS. 25A and 25B differs from the example ofFIGS. 23A and 23B in that position information and direction informationare calculated based on position information and direction informationof the aerial vehicle 200, output from the autonomous flight device 204of the aerial vehicle 200 that uses GPS navigation, and also based on acaptured image. In the example of FIGS. 23A and 23B, the controller 30of the shovel 100 uses a captured image including marker images MK1 andMK2, which are images of the reference points RP1 and RP2, to calculateposition information and direction information of the shovel 100.

First, the controller 201 of the aerial vehicle 200 obtains positioninformation and direction information of the aerial vehicle 200 (stepST221). For example, the controller 201 obtains position information anddirection information of the aerial vehicle 200 based on outputs fromvarious types of sensors such as the gyro-sensor, the accelerationsensor, the geomagnetic field sensor (orientation sensor), theatmospheric pressure sensor, the positioning sensor, and the ultrasonicsensor included in the flight control unit of the autonomous flightdevice 204.

Next, the controller 201 captures an image of the shovel 100 (stepST222). For example, the controller 201 obtains an image captured by thecamera 205 of the aerial vehicle 200 flying above the shovel 100. Asillustrated in FIG. 21B, the captured image includes a shovel image,which is an image of the shovel 100 and marker images MK3 through MK5,which are images of the marks RP3 through RP5 placed on the upperturning body 3. However, the captured image does not necessarily includemarker images MK1 and MK2, which are images of reference points RP1 andRP2.

Next, the controller 201 transmits the captured image, and also theposition information and the direction information of the aerial vehicle200 to the shovel 100 (step ST223).

The controller 30 of the shovel 100 obtains the captured image and alsoobtains the position information and the direction information of theaerial vehicle 200 (step ST231). For example, the controller 30receives, via the receiver S2, the captured image and also the positioninformation and the direction information of the aerial vehicle 200transmitted from the controller 201 of the aerial vehicle 200 to theshovel 100.

Next, the controller 30 calculates position information and directioninformation of the shovel 100 (step ST232). For example, the controller30 calculates position information and direction information of theshovel 100 based on the captured image and also based on the positioninformation and the direction information of the aerial vehicle 200.

To be more specific, based on the position information of the aerialvehicle 200, the controller 30 calculates an absolute position of afeature (center location) of real space corresponding to a center pixelof the captured image. Also, based on coordinates of the marker imagesMK3 through MK5 in the captured image, the controller 30 calculatescoordinates of the center point SC of the shovel 100. Further, based oncoordinates of the center pixel of the captured image, the controller 30calculates a relative position of the center point SC with respect tothe feature (center location). Based on the relative position of thecenter point SC and also based on the absolute position of the feature(center location), the controller 30 calculates an absolute position ofthe center point SC.

Further, based on the direction information of the aerial vehicle 200,the controller 30 obtains an orientation indicated by the vertical axisof the captured image. Also, as illustrated in FIG. 21B, based on thecoordinates of the marker images MK3 through MK5, the controller 30calculates a line segment L3, indicating the longitudinal direction ofthe excavation attachment, on the reference plane BP. Further, thecontroller 30 calculates an angle between the vertical axis of thecaptured image and the line segment L3.

Accordingly, based on the orientation of the vertical axis of thecaptured image, the controller 30 can obtain an orientation indicated bythe longitudinal direction of the excavation attachment. Also, based onchanges in orientation indicated by the longitudinal direction of theexcavation attachment, the controller 30 can calculate a turning angleof the excavation attachment.

Next, the controller 30 calculates a position of the front edge of thebucket 6 based on an orientation of the excavation attachment (stepST233). For example, the controller 30 obtains an orientation of theexcavation attachment based on an output from the orientation detectingdevice S4, and calculates a relative position of the front edge of thebucket 6 with respect to the center point SC of the shovel 100. Based onthe relative position, the absolute position of the center point SC, andthe orientation indicated by the longitudinal direction of theexcavation attachment, the controller 30 calculates an absolute positionof the front edge of the bucket 6.

Next, the controller 30 calculates a distance between the front edge ofthe bucket 6 and the target construction surface (step ST234). Forexample, the controller 30 calculates a distance between the targetconstruction surface and the front edge of the bucket 6 by referring tothe design data stored in the non-volatile storage medium. Thecontroller 30 can graphically display transition of distance between thetarget construction surface and the front edge of the bucket 6 on thedisplay device in the cabin 10 and present the same to the operator ofthe shovel 100 so as to guide the operator through the operation of theshovel.

In the above described configuration, the controller 30 can perform themachine guidance function by identifying the position and the directionof the shovel 100 based on position information and directioninformation of the aerial vehicle 200, which are output from the aerialvehicle 200 that uses GPS navigation, and also based on a captured imagethat does not include marker images corresponding to reference points.

Although the preferred embodiments of the present invention have beendescribed above, the present invention is not limited to theabove-described embodiments. Various modifications and variations may bemade without departing from the scope of the present invention.

For example, in the above-described embodiments, the pilot causes theaerial vehicle 200 to fly above the work site by using the remotecontrol 300. However, the present invention is not limited to theabove-described configuration. For example, the aerial vehicle 200 mayautonomously fly above the work site. For example, upon the operator ofthe shovel 100 pressing a predetermined button in the cabin 10, theaerial vehicle 200 standing by at a predetermined position may startautonomously flying above the work site.

Further, upon the pilot of the aerial vehicle 200 or the operator of theshovel 100 performing a predetermined operation, the aerial vehicle 200may be released from following the shovel 100. Upon the aerial vehicle200 being released from following the shovel 100, the aerial vehicle 200may hover at a predetermined height or may return to a predeterminedstandby place, independently of the movement of the shovel 100.

Next, referring to FIG. 26 and FIG. 27, a fluid supply system includinga shovel (excavator) 100 and an aerial vehicle 200 according to anotherembodiment will be described. FIG. 26 is a drawing illustrating a worksite in which the fluid supply system is used. FIG. 27 is a systemconfiguration diagram of the fluid supply system.

The fluid supply system is a system that uses an aerial vehicle toeffectively supply fluids consumed by a shovel. The fluid supply systemis mainly configured with the shovel 100 and the aerial vehicle 200. Theshovel 100 configuring the fluid supply system may be a single shovel ora plurality of shovels, and the aerial vehicle 200 configuring the fluidsupply system may be a single aerial vehicle or a plurality of aerialvehicles. The example of FIG. 26 and FIG. 27 includes the single shovel100 and the single aerial vehicle 200.

The aerial vehicle 200 is an autonomous aerial vehicle that can flyunder remote control or under autopilot. Examples of the aerial vehicle200 include a multicopter and an airship. In the present embodiment, theaerial vehicle 200 is a quadcopter having a camera mounted.

The aerial vehicle 200 is configured to carry a container 250. Thecontainer 250 is a container that stores fluids consumed by the shovel100. In the present embodiment, the container 250 has an approximatelycylindrical shape. The fluids consumed by the shovel 100 includes fuelsuch as diesel fuel, a liquid reducing agent such as an aqueous ureasolution, grease, lubricating oil, coolant, or engine oil.

An upper turning body 3 is rotatably mounted on a lower traveling body 1of the shovel 100 via a turning mechanism 2. A boom 4 is mounted on theupper turning body 3. An arm 5 is attached to the end of the boom 4, anda bucket 6 is attached to the end of the arm 5. The boom 4, the arm 5,and the bucket 6 form an excavation attachment as an example of anattachment. A cabin 10 is mounted on the upper turning body 3. The boom4, the arm 5, and the bucket 6 are hydraulically driven by a boomcylinder 7, an arm cylinder 8, and a bucket cylinder 9, respectively. Acabin 10 is mounted on the upper turning body 3 and power sources suchas an engine 11 are also mounted on the upper turning body 3.

The shovel 100 includes an engine 11, a main pump 14, a pilot pump 15, acontrol valve 17, a fuel tank 18, an aqueous urea solution tank 19, agrease tank 20, an operating unit 26, a controller 30, and an enginecontrol unit 74.

The engine 11 is a driving source of the shovel 100. The engine 11 is,for example, a diesel engine operated at a predetermined rotation speed.An output shaft of the engine 11 is connected to an input shaft of themain pump 14 and an input shaft of the pilot pump 15.

Exhaust gas from the engine 11 is released to the air after beingpurified by an exhaust gas processing device 11A. In the presentembodiment, the exhaust gas processing device 11A includes a dieselparticulate filter (DPF) and a selective catalytic reduction (SCR)system.

The main pump 14 is a variable volume swash plate type hydraulic pumpconfigured to supply hydraulic oil to the control valve 17 via ahigh-pressure hydraulic line 16. The discharge flow rate of the mainpump 1 per rotation changes according to the change in an inclinationangle of a swash plate.

The inclination angle of the swash plate is controlled by a regulator 14a. The regulator 14 a changes the inclination angle of the swash plateaccording to the change in controlled electric current from thecontroller 30.

The pilot pump 15 is a fixed volume hydraulic pump configured to supplyhydraulic oil to various types of hydraulic control units such as theoperating unit 26 via a pilot line 25.

The control valve 17 is a set of flow rate control valves that controlthe flow of hydraulic oil supplied to hydraulic actuators. The controlvalve 17 selectively supplies hydraulic oil, received from the main pump14 via the high-pressure hydraulic line 16, to the one or more hydraulicactuators in accordance with the change in pilot pressure thatcorresponds to an operation direction and an operation amount of theoperating unit 26. The hydraulic actuator includes, for example, theboom cylinder 7, the arm cylinder 8, the bucket cylinder 9, a left-sidetraveling hydraulic motor 1A, a right-side traveling hydraulic motor 1B,and a turning hydraulic motor 2A.

The fuel tank 18 is a tank that stores fuel. In the present embodiment,the fuel tank 18 stores diesel fuel used by the engine 11.

The aqueous urea solution tank 19 is a tank that stores aqueous ureasolutions as liquid reducing agents. In the present embodiment, theaqueous urea solution tank 19 stores aqueous urea solutions used by theselective catalytic reduction system.

The grease tank 20 is a tank that stores grease. In the presentembodiment, the grease tank 20 stores grease for lubricating movingparts.

An operating unit 26 is used by an operator of the shovel 100 to operatethe hydraulic actuators. The operating unit 26 generates pilot pressureupon receiving supply of hydraulic oil from the pilot pump via the pilotline 25. The operating unit 26 applies the pilot pressure to each pilotport of the corresponding flow rate control valve via a pilot line 25 a.The pilot pressure changes in accordance with an operation direction andan operation amount of the operating unit 26. The pilot pressure sensor15 a detects pilot pressure and outputs a detection value to thecontroller 30.

The controller 30 is a control unit that controls the shovel 100. In thepresent embodiment, the controller 30 is configured with a computerincluding a CPU, random access memory (RAM), and read-only memory (ROM).The CPU of the controller 30 reads programs corresponding to varioustypes of functions from the ROM and loads the programs into the RAM soas to execute the functions corresponding to the respective programs.

The engine control unit 74 is a device that controls the engine 11. Theengine control unit 74 controls the amount of fuel injection such thatthe rotation speed of the engine set through an input device isachieved.

The transmitter S1, the receiver S2, the positioning device S3, theorientation detecting device S4, a residual amount detecting device S5A,and a docking device S6 mounted on the upper turning body 3 are eachconnected to the controller 30. The controller 30 performs computationbased on information output from each of the receiver S2, thepositioning device S3, the orientation detecting device S4, and theresidual amount detecting device S5A. The controller 30 causes thetransmitter S1 to transmit information generated based on a computationresult to the outside, or the controller 30 activates the docking deviceS6 based on the generated information.

The transmitter S1 transmits information to the outside of the shovel100. In the present embodiment, in response to a request from the aerialvehicle 200, the transmitter S1 transmits, to the aerial vehicle 200,information that can be received by the aerial vehicle 200.

The receiver S2 receives information transmitted from the outside of theshovel 100. In the present embodiment, the receiver S2 receivesinformation transmitted from the aerial vehicle 200.

The positioning device S3 obtains information related to a position ofthe shovel 100. In the present embodiment, the positioning device S3 isa Global Navigation Satellite System (GNSS) (Global Positioning System(GPS)) receiver and measures latitude, longitude, and altitude of thecurrent position of the shovel 100.

The orientation detecting device S4 detects an orientation of theshovel. The orientation of the shovel is, for example, a degree ofinclination of a body. In the present embodiment, the orientationdetecting device S4 includes a body inclination angle sensor. The bodyinclination angle sensor is a sensor that obtains a body inclinationangle. For example, the body inclination angle sensor is an accelerationsensor that detects an inclination angle of the upper turning body 3relative to a horizontal plane.

The residual amount detecting device S5A detects residual amounts ofvarious types of fluids. In the present embodiment, the residual amountdetecting device S5A detects a residual amount of diesel fuel in thefuel tank 18, a residual amount of an aqueous urea solution in theaqueous urea solution tank 19, and a residual amount of grease in thegrease tank 20.

The docking device S6 allows the shovel 100 to be docked (connected) tothe aerial vehicle 200. In the present embodiment, the docking device S6allows the fuel tank 18 mounted on the shovel 100 to be connected to thecontainer 250 carried by the aerial vehicle 200. To be more specific, inresponse to a command from the controller 30, the docking device S6switches between a docking enabled state that structurally allows thefuel tank 18 to be connected to the container 250 and a docking disabledstate that does not structurally allow the fuel tank 18 to be connectedto the container 250.

A wireless power receiving device S7 receives power from an externalpower feeding device in a contactless manner, and supplies the power toelectric loads mounted on the shovel 100. In the present embodiment, thewireless power receiving device S7 receives power from a battery mountedon the aerial vehicle 200 in a contactless manner, and activates thecontroller 30, the transmitter S1, the receiver S2, the orientationdetecting device S4, and the docking device S6. The wireless powerreceiving device S7 may charge the battery mounted on the shovel 100.

The aerial vehicle 200 is configured with a controller 201, atransmitter 202, a receiver 203, an autonomous flight device 204, acamera 205, and a wireless power feeding device 206, for example.

The controller 201 is a control unit that controls the aerial vehicle200. In the present embodiment, the controller 201 is configured with acomputer including RAM and ROM. A CPU of the controller 201 readsprograms corresponding to various types of functions from the ROM andloads the programs into the RAM, so as to execute the functionscorresponding to the respective programs.

The transmitter 202 transmits information to the outside of the aerialvehicle 200. In the present embodiment, the transmitter 202 transmitsinformation that can be received by the shovel 100.

The receiver 203 receives information transmitted from the outside ofthe aerial vehicle 200. For example, the receiver 203 receivesinformation transmitted from the shovel 100.

The autonomous flight device 204 is a device that achieves autonomousflight of the aerial vehicle 200. In the present embodiment, theautonomous flight device 204 includes a flight control unit, an electricmotor, and a battery. The flight control unit includes various types ofsensors such as a gyro-sensor, an acceleration sensor, geomagnetic fieldsensor (orientation sensor), an atmospheric pressure sensor, apositioning sensor, and an ultrasonic sensor. The flight control unitimplements an orientation maintaining function, an altitude maintainingfunction, and the like. The electric motor rotates propellers uponreceiving power supplied from the battery. However, the propellers maybe rotated by other driving sources such as an internal combustionengine.

The autonomous flight device 204 moves the aerial vehicle 200 to atarget flight position by separately controlling rotational speeds ofthe four propellers while maintaining the orientation and the altitudeof the aerial vehicle 200. The information related to the target flightposition includes, for example, latitude, longitude, and altitude of thetarget flight position. For example, the controller 201 obtainsinformation related to the target flight position from the outsidethrough the receiver 203. The autonomous flight device 204 may changethe direction of the aerial vehicle 200 upon receiving informationrelated to a target direction from the controller 201.

The camera 205 is a device that obtains an image. In the presentembodiment, the camera 205 is attached to the aerial vehicle 200 suchthat an image vertically below the aerial vehicle 200 is captured. Theimage captured by the camera 205 includes information related to animaging position that is a flight position of the aerial vehicle 200,and is used to generate three-dimensional topographic data.

The wireless power feeding device 206 supplies power from the batterymounted on the aerial vehicle 200 to an external power receiving devicein a contactless manner. In the present embodiment, the wireless powerfeeding device 206 wirelessly supplies power to the wireless powerreceiving device S7 disposed on the upper surface of the shovel 100, andcauses the various types of electric loads to operate by using thepower.

Next, referring to FIGS. 28A and 28B, functions of the fluid supplysystem will be described. FIGS. 28A and 28B illustrate a process beforethe fluid supply system starts supplying fuel (hereinafter referred toas a “process performed before supplying fuel”). FIG. 28A is a flowchartillustrating a process flow performed by the aerial vehicle 200. FIG.28B is a flowchart illustrating a process flow performed by the shovel100.

The process performed before supplying fuel illustrated in FIGS. 28A and28B is applied to a case where fuel is supplied to the fuel tank 18, andis also applied similarly to cases where an aqueous urea solution issupplied to the aqueous urea solution tank 19 and grease is supplied tothe grease tank 20.

First, referring to FIG. 28A, the process flow performed by the aerialvehicle 200 will be described. Based on information transmitted from theshovel 100, the aerial vehicle 200 parked in a parking area determineswhether fuel supply is required (step ST241). The parking area is anarea where charging equipment for the aerial vehicle 200 is placed. Inthe parking area, fuel is injected into the container 250. Fuelinjection may be automatically conducted or manually conducted. In theparking area, a parking space may be assigned to the aerial vehicle 200.Also, when the aerial vehicle 200 is parked in the parking space,charging may be automatically started.

The information transmitted from the shovel 100 includes informationrelated to position information of the shovel and a residual amount offuel. For example, the shovel 100 automatically transmits informationrelated to position information of the shovel and a residual amount offuel when the engine 11 is stopped by the operator. Body inclinationinformation related to body inclination angles may also be included. Inthe present embodiment, the controller 201 of the aerial vehicle 200determines whether fuel supply is required based on residual amountinformation transmitted from the shovel 100. To be more specific, thecontroller 201 uses the receiver 203 to receive information transmittedfrom the shovel 100. The controller 201 may receive the informationdirectly from the shovel 100 or may receive the information indirectlyvia a communications center. When the residual amount information offuel stored in the fuel tank 18 is less than a predetermined amount, thecontroller 201 determines that fuel supply is required. When theresidual amount information of fuel is greater than or equal to thepredetermined amount, the controller 201 determines that fuel supply isnot required.

When it is determined that fuel supply is not required (no in stepST241), the controller 201 waits until receiving the next informationfrom the shovel 100.

When it is determined that fuel supply is required (yes in step ST241),the controller 201 causes the aerial vehicle 200 to fly from the parkingarea to an area above the shovel 100 (step ST242).

When the aerial vehicle 200 flies above the shovel 100, the controller201 transmits identification information of the aerial vehicle 200 (stepST243). For example, the controller 201 causes the transmitter 202 totransmit identification information of the aerial vehicle 200 to thereceiver S2, and causes the controller 30 to authenticate the aerialvehicle 200.

Subsequently, the controller 201 causes the aerial vehicle 200 to landon the shovel 100 (step ST244). In the present embodiment, based on animage captured by the camera 205, the controller 201 identifies an imageof the docking device S6 corresponding to the fuel tank 18 placed on theupper surface of the shovel 100.

Next, the controller 201 controls a flight position of the aerialvehicle 200 such that the identified image of the docking device S6 isdisplayed at a predetermined position of the captured image and thedisplayed image of the docking device S6 becomes gradually larger insize. As a result, the aerial vehicle 200 gradually approaches thedocking device S6 and lands on the docking device S6.

The controller 201 may determine whether a landing is possible beforethe aerial vehicle 200 lands on the docking device S6. For example, whenthe engine 11 of the shovel 100 is being operated, the controller 201may determine a landing is not possible. In order to determine whetherthe engine 11 is operated, the receiver 203 may receive informationperiodically transmitted from the transmitter S1 of the shovel 100 andthe controller 201 may determine whether the engine 11 is operated basedon the received information. For example, when the shovel 100 isdetermined to be in operation, the controller 30 may cause thetransmitter S1 to transmit a command for prohibiting docking. Further,when the controller 201 determines that the shovel 100 is inclined basedon body inclination information transmitted from the shovel 100, thecontroller 201 may determine that a landing is not possible. Forexample, when the controller 30 determines that the shovel 100 islocated on a level surface based on an output from the orientationdetecting device S4, the controller 30 may cause the transmitter S1 totransmit a command for permitting a landing. Conversely, when thecontroller 30 determines that the shovel 100 is not located on a levelsurface, the controller 30 may cause the transmitter S1 to transmit acommand for prohibiting a landing. In this case, when the bodyinclination angle is less than a predetermined angle, the controller 201may determine that the shovel 100 is located on a level surface.Alternatively, when the controller 30 determines that the shovel 100 isinclined based on an inclination angle of the shovel 100 calculated froma captured image, the controller 201 may determine that a landing is notpossible. In this case, when the inclination angle of the shovel 100 isless than the predetermined angle, the controller 201 may determine thatthe shovel 100 is inclined. When the controller 201 determines that alanding is not possible, the controller 201 may cause the aerial vehicle200 to return to the parking area, or may cause the aerial vehicle 200to hover above the shovel 100 and stand by until the controller 201determines that the landing is possible.

Upon the aerial vehicle 200 landing on the docking device S6, thecontroller 201 stops rotation of the propellers and activates thewireless power feeding device 206 (step ST245). Whether the aerialvehicle 200 has landed is determined based on, for example, an outputfrom the acceleration sensor attached to the aerial vehicle 200.

The wireless power feeding device 206 supplies power from the batterymounted on the aerial vehicle 200 to the wireless power receiving deviceS7 of the shovel 100 in a contactless manner, and activates thecontroller 30 of the shovel 100 and the receiver S2.

The controller 201 may transmit identification information of the aerialvehicle 200 after the aerial vehicle 200 lands on the docking device S6.Further, when the controller 30 of the shovel 100 and the receiver S2are already operated by power supplied from the battery mounted on theshovel 100, the controller 201 does not necessarily activate thewireless power feeding device 206.

Next, referring to FIG. 28B, the process flow performed by the shovel100 will be described. Upon the controller 30 of the shovel 100 beingactivated by the power from the battery mounted on the aerial vehicle200, the controller 30 of the shovel 100 authenticates the aerialvehicle 200 (step ST251).

When the aerial vehicle 200 is not authenticated as an authorized aerialvehicle (no in step ST251), the controller 30 waits without performingthe process as of step ST251. The authorized aerial vehicle is an aerialvehicle having identification information that is preliminarilyregistered in the memory of the controller 30, for example. When theaerial vehicle 200 is not authenticated as an authorized aerial vehicleeven after authentication is repeatedly attempted at a predeterminednumber of times, the controller 30 may stop the operation of the aerialvehicle. This is to prevent an unauthorized (unregistered) aerialvehicle from being supplied with fuel. In this configuration, thecontroller 30 can prevent an unauthorized (unregistered) aerial vehiclefrom being connected to the shovel 100.

When the aerial vehicle 200 is authenticated as an authorized aerialvehicle (yes in step ST251), the controller 30 switches the dockingdevice S6 from the docking disabled state to the docking enabled state(step ST252).

Alternatively, the controller 30 may transmit identification informationof the shovel 100 to the receiver 203 of the aerial vehicle 200 suchthat the controller 201 authenticates the shovel 100. In this case, whenthe controller 201 authenticates the shovel 100 as an authorized(registered) shovel, the controller 201 sends an authenticationcompletion signal to the controller 30. The controller 30 waits untilreceiving the authentication completion signal without performing theprocess as of step ST251. Upon receiving the authentication completionsignal, the controller 30 switches the docking device S6 from thedocking disabled state to the docking enabled state.

Further, after the fuel tank 18 is connected to the container 250, thecontroller 30 may transmit, from the transmitter S1 to the aerialvehicle 200, a supply start command for starting supplying fuel. Forexample, the controller 30 may transmit the supply start command fromthe transmitter S1 to the aerial vehicle 200 when the docking device S6is switched to the docking enabled state.

Next referring to FIGS. 29A and 29B, arrangement of the docking deviceS6 will be described. FIGS. 29A and 29B are drawings illustrating thearrangement of the docking device S6 on the upper turning body 3. FIG.29A is a side view of the upper turning body 3. FIG. 29B is a top viewof the upper turning body 3.

In the example of FIGS. 29A and 29B, the docking device S6 includes adocking device for fuel S6A corresponding to the fuel tank 18, a dockingdevice for aqueous urea solutions S6B corresponding to the aqueous ureasolution tank 19, and a docking device for grease S6C corresponding tothe grease tank 20.

The fuel tank 18, the aqueous urea solution tank 19, and the grease tank20 are disposed on the +X side (front side) of the upper turning body 3and also on the −Y side of the cabin 10 across the boom mountingposition. Further, the aqueous urea solution tank 19 is disposed on the+X side (front side) of the fuel tank 18 and the grease tank 20 isdisposed on the +X side (front side) of the aqueous urea solution tank19.

The docking devices S6A through S6C are each disposed on the top of thecorresponding tank. This arrangement is to allow fluid in the container250 to flow into the corresponding tank by the force of gravity when thecontainer 250 carried by the aerial vehicle 200 is connected to thecorresponding tank. The fluid in the container 250 may also be injectedinto the corresponding tank by using a pump mounted on the shovel 100 orthe aerial vehicle 200.

In the present embodiment, the docking device S6 is configured to berecessed from the upper surface of the upper turning body 3. However,the docking device S6 may be configured to project from the uppersurface of the upper turning body 3.

Next, referring to FIGS. 30A1 through 30B2, an operation of the dockingdevice S6 will be described. FIGS. 30A1 through 30B2 illustrate theoperation of the docking device S6. FIG. 30A1 and FIG. 30A2 illustratethe docking device S6 in the docking disabled state. FIG. 30B1 and FIG.30B2 illustrate the docking device S6 in the docking enabled state. FIG.30A1 and FIG. 30B1 are top views of the docking device S6. FIG. 30A2 andFIG. 30B2 are cross-sectional views of the docking device S6. FIG. 30A2is a vertical cross-sectional view taken along a long-dash short-dashline L1 of FIG. 30A1. FIG. 30B2 is a vertical cross-sectional view takenalong a long-dash short-dash line L2 of FIG. 30B1.

In the example of FIGS. 30A1 through 30B2, the docking device S6 isconfigured with a container receiving portion 60, a base 61, a couplingportion 62, and the like.

The container receiving portion 60 is a member that forms a recessedspace having an inverted truncated cone shape and receiving thecontainer 250 carried by the aerial vehicle 200. The inverted truncatedcone has approximately the same inclination as that of a chamferedportion 250 t formed at the bottom edge of the container 250 having anapproximately cylindrical shape.

The base 61 supports the bottom surface of the container 250 within thecontainer receiving portion 60. In the present embodiment, the base 61has four movable base members 61A through 61D. The movable base members61A through 61D are configured to be extendable in a Z-axis direction(in a vertical direction). The movable base members 61A through 61D aredriven by an electric actuator. When the docking device S6 is in thedocking disabled state, the movable base members 61A through 61D are inan extended state as illustrated in FIG. 30A2. When the docking deviceS6 is in the docking enabled state, the movable base members 61A through61D are in a contracted state as illustrated in FIG. 30B2. In FIG. 30A1and FIG. 30A2, the movable base members 61A through 61D that are in theextended state are colored in white. In FIG. 30B2, the movable basemembers 61A and 61B that were in the extended state are indicated bydashed lines.

The coupling portion 62 is a member that couples to a coupling portion251 of the container 250. In the present embodiment, the couplingportion is a cylindrical member extending in a +Z direction (verticallyupward) from the upper surface of the fuel tank 18 (see FIGS. 29A and29B). As illustrated in FIG. 30A2, the coupling portion 251 is acylindrical member that projects from the bottom surface of thecontainer 250 in a −Z direction (vertically downward). When the couplingportion 62 and the coupling portion 251 are coupled to each other, apassage of fuel flowing from the container 250 to the fuel tank 18 isformed.

To be more specific, the coupling portion 62 is configured with aninflow prevention portion 62A, a central pin 62B, a circular portion62C, and a cylindrical portion 62D. The inflow prevention portion 62A isa disc-shaped member that prevents fluid from entering the fuel tank 18from the outside. The inflow prevention portion 62A makes contact withthe circular portion 62C by being pushed in the +Z direction (upward)along the central pin 62B inside the cylindrical portion 62D by theforce of a spring, so as to prevent fluid from flowing into the fueltank 18 from the outside.

The central pin 62B is a fixed pin extending along the central axis ofthe cylindrical portion 62D. The central pin 62B extends into a centralportion of the inflow prevention portion 62A.

The circular portion 62C is a member formed inside the cylindricalportion 62D. The circular portion 62C defines an upper limit position ofthe inflow prevention portion 62A. The inflow prevention portion 62A maybe fixed by an electric stopper at the upper limit position. Forexample, the electric stopper is configured to fix the inflow preventionportion 62A at the upper limit position when not receiving power supply,and is configured to move (downward) the inflow prevention portion 62Afrom the upper limit position when receiving power supply.

The cylindrical portion 62D is a tubular member that forms a flowpassage of fuel and extends to the upper surface of the fuel tank 18.The flow passage formed by the cylindrical portion 62D leads to theinside of the fuel tank 18.

The coupling portion 251 is configured with an outflow preventionportion 251A, a circular portion 251B, and a cylindrical portion 251C.The outflow prevention portion 251A is a disc-shaped member thatprevents fluid from flowing out of the container 250 to the outside. Theoutflow prevention portion 251A makes contact with the circular portion251B by being pushed in the −Z direction (downward) inside thecylindrical portion 251C by the force of a spring, so as to prevent fuelfrom flowing out of the container 250 to the outside.

Unless the outflow prevention portion 251A makes contact with thecentral pin 62B and is pushed upward by the central pin 62B, the outflowprevention portion 251A is in contact with the circular portion 251B soas to prevent fuel from flowing out. Upon the outflow prevention portion251A being pushed upward by the central pin 62B, the outflow preventionportion 251A separates from the circular portion 251B, causing fuel toflow out.

The circular portion 251B is a member formed inside the cylindricalportion 251C. The circular portion 251B defines a lower limit positionof the outflow prevention portion 251A. The outflow prevention portion251A may be fixed by an electric stopper at the lower limit position.For example, the electric stopper is configured to fix the outflowprevention portion 251A at the lower limit position when not receivingpower supply, and is configured to move (move upward) the outflowprevention portion 251A from the lower limit position when receivingpower supply. For example, only when a supply start command is receivedfrom the shovel 100, the controller 201 may activate the electricstopper and start supplying fuel. Namely, the controller 201 keeps theoutflow prevention portion 251A at the lower limit position untilreceiving the supply start command from the shovel 100. Accordingly, itis possible to prevent fuel from being supplied before the supply startcommand is received.

The cylindrical portion 251C is a tubular member that forms a flowpassage of fuel and extends to the bottom surface of the container 250.The flow passage formed by the cylindrical portion 251C leads to theinside of the container 250.

When the aerial vehicle 200 lands on the docking device S6 in step ST244of FIG. 28A after the controller 30 authenticates the aerial vehicle200, the aerial vehicle 200 is in a state illustrated in FIG. 30A2.Namely, the aerial vehicle 200 is in a state supported by the movablebase members 61A through 61D that are in the extended state.

Subsequently, as illustrated in step ST252, the controller 30 switchesthe docking device S6 from the docking disabled state to the dockingenabled state. In the present embodiment, the controller 30 contractsthe movable base members 61A through 61D by causing the electricactuator to be driven by power supplied from the battery mounted on theaerial vehicle 200 through the wireless power feeding device 206 and thewireless power receiving device S7. The controller 30 may contract themovable base members 61A through 61D before the aerial vehicle 200lands.

In a case where the inflow prevention portion 62A is fixed by theelectric stopper at the upper limit position, the electric stopper maybe driven so as to move the inflow prevention portion 62A downward fromthe upper limit position. The same applies to the outflow preventionportion 251A.

Once the movable base members 61A through 61D are contracted, thecontainer 250 slides down inside the container receiving portion 60 byits own weight. As a result, the coupling portion 251 and the couplingportion 62 are coupled to each other as illustrated in FIG. 30B2, andthe container 250 leads to the fuel tank 18. To be more specific, theoutflow prevention portion 251A is pushed upward by the central pin 62Band thus separates from the circular portion 251B. Further, the inflowprevention portion 62A is pushed downward by the cylindrical portion251C and thus separates from the circular portion 62C. As a result, asindicated by an arrow AR1 of FIG. 30B2, fuel in the container 250 flowsthrough a hole 251D formed near a lower end of the cylindrical portion251C into the cylindrical portion 62D and further flows into the fueltank 18.

Next, referring to FIGS. 31A and 31B, another function of the fluidsupply system will be described. FIGS. 31A and 31B illustrate a processperformed after the fluid supply system completes the fuel supply(hereinafter referred to as a “process performed after completing thefuel supply”). FIG. 31A is a flowchart illustrating a process flowperformed by the aerial vehicle 200. FIG. 31B is a flowchartillustrating a process flow performed by the shovel 100.

The process performed after completing the fuel supply of FIGS. 31A and31B is applied to a case where fuel is supplied to the fuel tank 18, andis also applied similarly to cases where an aqueous urea solution issupplied to the aqueous urea solution tank 19 and grease is supplied tothe grease tank 20.

First, referring to FIG. 31A, the process flow performed by the aerialvehicle 200 will be described. The controller 201 of the aerial vehicle200 landing on the docking device S6 determines whether the fuel supplyis completed (step ST261). For example, based on an output from theresidual amount detecting device S5A that detects a residual amount ofthe container 250, the controller 201 determines whether the fuel supplyis completed. Alternatively, based on information transmitted from theshovel 100, the controller 201 may determine whether the fuel supply iscompleted.

When it is determined that the fuel supply is not completed (no in stepST261), the controller 201 waits without performing the process as ofstep ST261.

When it is determined that the fuel supply is completed (yes in stepST261), the controller 201 indicates, to the shovel 100, that the fuelsupply is completed (step ST262). For example, the controller 201 sends,from the transmitter 202 to the shovel 100, information indicating thatthe fuel supply is completed. When it is determined that the fuel supplyis completed based on the information transmitted from the shovel 100,the controller 201 proceeds to the next step without indicating thecompletion of the fuel supply to the shovel 100. This is because thecompletion of the fuel supply is already detected by the shovel 100.

Next, the controller 201 causes the aerial vehicle 200 to fly to theparking area (step ST263).

Next, referring to FIG. 31B, the process flow performed by the shovel100 will be described. The controller 30 of the shovel 100, which hasswitched the docking device S6 to the docking enabled state, determineswhether the fuel supply is completed (step ST271). For example, based oninformation transmitted from the aerial vehicle 200, the controller 30determines whether the fuel supply is completed. Alternatively, based onan output from the residual amount detecting device S5A, the controller30 may determine whether the fuel supply is completed.

When the controller 30 determines that the fuel supply is not completed(no in step ST271), the controller 30 waits without performing theprocess as of step ST271.

When the controller 30 determines that the fuel supply is completed (yesin step ST271), the controller 30 switches the docking device S6 to thedocking disabled state. For example, the controller extends the movablebase members 61A through 61D by causing the electric actuator to bedriven by power supplied from the battery mounted on the aerial vehicle200 through the wireless power feeding device 206 and the wireless powerreceiving device S7.

Upon the movable base members 61A through 61D extending, the container250 is pushed upward by the movable base members 61A through 61D. Thus,the coupling portion 251 and the coupling portion 62 separate from eachother as illustrated in FIG. 30A2, causing the container 250 not to leadto the fuel tank 18. To be more specific, the outflow prevention portion251A moves downward and makes contact with the circular portion 251B.Further, the inflow prevention portion 62A moves upward and makescontact with the circular portion 62C. As a result, fluid is preventedfrom flowing out of the container 250 to the outside, while alsoprevented from flowing into the fuel tank 18 from the outside. Theinflow prevention portion 62A may be fixed by the electric stopper atthe upper limit position. The same applies to the outflow preventionportion 251A.

When it is determined that the fuel supply is completed based on theoutput from the residual amount detecting device S5A, the controller 30indicates, to the aerial vehicle 200, that the fuel supply is completed.For example, the controller 30 sends, from the transmitter S1 to theaerial vehicle 200, information indicating that the fuel supply iscompleted.

In the above-described configuration, the shovel 100 can effectivelyreceive fuel by using the aerial vehicle 200. When the shovel 100receives fuel from the aerial vehicle 200, the shovel 100 is notrequired to move from a work site to a place where fuel is supplied.Accordingly, it is particularly effective, for example, when the shovel100 is operated at a work site such as a disaster recovery site whereentering and exiting of the shovel 100 is difficult, or when the shovel100 is remotely operated at a work site where a worker is prohibited toenter.

Further, only when the aerial vehicle 200 is authenticated, the shovel100 is supplied with fuel. To be more specific, only when the aerialvehicle 200 is authenticated, the shovel 100 is supplied with fuel byoperating the docking device S6 and the electric stopper. Namely, fuelsupply from an aerial vehicle other than the authenticated aerialvehicle 200, including manual fuel supply, is restricted. Therefore, itis possible to prevent the shovel 100 from being supplied with irregularfuel or inferior fuel. Further, the shovel 100 may be supplied with fuelby the aerial vehicle 200 in response to two-way authentication in whichthe aerial vehicle 200 and the shovel 100 are authenticated by eachother, instead of one-way authentication in which the aerial vehicle 200is authenticated by the shovel 10.

When the wireless power feeding device 206 and the wireless powerreceiving device S7 are used in combination, the shovel 100 may becompletely stopped while the engine is stopped. Completely stopping theshovel 100 means that power supplied to the electric loads such as thecontroller 30 is completely shut off. As a result, while the functionsof the fluid supply system are implemented, it is possible to preventthe battery of the shovel 100 from being overdischarged.

Next, referring to FIGS. 32A1 through 32B2, another example of thedocking device S6 will be described. FIGS. 32A1 through 32B2 illustrateanother example of the docking device S6 and correspond to FIGS. 30A1through 30B2. FIG. 32A1 and FIG. 32A2 illustrate the docking device S6in the docking disabled state. FIG. 32B1 and FIG. 32B2 illustrate thedocking device S6 in the docking enabled state. FIG. 32A1 and FIG. 32B1are top views of the docking device S6. FIG. 32A2 and FIG. 32B2 arecross-sectional views of the docking device S6. FIG. 32A2 is a verticalcross-sectional view taken along a long-dash short-dash line L3 of FIG.32A1. FIG. 32B2 is a vertical cross-sectional view taken along along-dash short-dash line L4 of FIG. 30B1.

The example of FIGS. 32A1 through 32B2 differs from the example of FIGS.30A1 through 30B2 in that the docking device S6 does not include thebase 61 and includes a cover 63. Other elements are the same as those inthe example of FIGS. 30A1 through 30B2 and thus a description thereofwill be omitted, and only differences will be described in detail.

The cover 63 is an automatically openable and closable cover that coversthe container receiving portion 60. In the present embodiment, the cover63 has a left cover 63L and a right cover 63R. The left cover 63L andthe right cover 63R are configured to be opened and closed by anelectric actuator. Arrows AR2 illustrated in FIGS. 32A1 and 32A2indicate an opening direction of the left cover 63L, and arrows AR3illustrated in FIGS. 32A1 and 32A2 indicate an opening direction of theright cover 63R. When the docking device S6 is in the docking disabledstate, the left cover 63L and the right cover 63R are in a closed stateas illustrated in FIG. 32A2. When the docking device S6 is in thedocking enabled state, the left cover 63L and the right cover 63R are inan open state as illustrated in FIG. 32B2. In the closed state, the leftcover 63L and the right cover 63R can cover the coupling portion 62 suchthat the coupling portion 62 is not seen from the outside.

The controller 30 opens and closes the left cover 63L and the rightcover 63R by causing the electric actuator to be driven by powersupplied from the battery mounted on the aerial vehicle 200 through thewireless power feeding device 206 and the wireless power receivingdevice S7.

When the left cover 63L and the right cover 63R are opened, thecontainer receiving portion 60 can receive the container 250. Thus, asillustrated in FIG. 32B2, the coupling portion 251 and the couplingportion 62 can be coupled to each other such that the container 250 canlead to the fuel tank 18.

In this configuration, the shovel 100 using the docking device S6 ofFIGS. 32A1 through 32B2 can exhibit a similar effect to that of thedocking device S6 of FIGS. 30A1 through 30B2.

Although the preferred embodiments of the present invention have beendescribed, the present invention is not limited to the above-describedembodiments. Various modifications and variations may be made withoutdeparting from the scope of the present invention.

For example, in the above-described embodiments, the aerial vehicle 200automatically determines whether fuel supply is required, andautomatically takes off and flies from the parking area to an area abovethe shovel 100. However, the present invention is not limited to thisconfiguration. For example, the aerial vehicle 200 may be remotelyoperated via a remote control. In this case, the pilot may remotelyoperate the aerial vehicle 200 such that the aerial vehicle 200 fliesfrom the parking area to an area above the shovel 100 before fuel supplyand returns, from the area above the shovel 100 to the parking areaafter the fuel supply.

Further, in the above-described embodiments, the docking device S6 isoperated by power supplied from the battery mounted on the aerialvehicle 200. To be more specific, the docking device S6 is operated bypower supplied from the battery mounted on the aerial vehicle 200through the wireless power feeding device 206 and the wireless powerreceiving device S7. However, the present invention is not limited tothis configuration. For example, the docking device S6 may be operatedby power supplied from the battery mounted on the shovel 100. In thiscase, for example, the controller 30 may be continuously orintermittently operated in a power-saving mode so as to communicate withthe aerial vehicle 200 while the engine 11 of the shovel 100 is stopped.In this case, the wireless power feeding device 206 and the wirelesspower receiving device S7 may be omitted. Alternatively, by using awireless power feeding device mounted on the shovel 100 and a wirelesspower receiving device mounted on the aerial vehicle 200, the battery ofthe aerial vehicle 200 may be charged with the battery mounted on theshovel 100. Further, power may be transferred between the shovel 100 andthe aerial vehicle 200 in a wired manner.

Various aspects of the subject-matter described herein may be set outnon-exhaustively in the following numbered clauses:

1. A shovel includes a lower traveling body; an upper turning bodymounted on the lower traveling body; a transmitter and a receivermounted on the upper turning body; a display device configured todisplay an image captured by a camera-mounted autonomous aerial vehicle;and a controller configured to generate information related to a targetflight position of the camera-mounted autonomous aerial vehicle, whereinthe transmitter is configured to transmit the information related to thetarget flight position to the camera-mounted autonomous aerial vehicle,and the target flight position is a position that is higher by apredetermined height relative to a predetermined point on the shovel andis away by a predetermined distance relative to the predetermined point.

2. The shovel according to clause 1, wherein the receiver is configuredto receive position information of the camera-mounted autonomous aerialvehicle, and the controller is configured to generate the informationrelated to the target flight position based on the position informationof the camera-mounted autonomous aerial vehicle.

3. The shovel according to clause 1, wherein the information related tothe target flight position is either information related to a positionof the shovel or a combination of the information related to theposition of the shovel and information related to an orientation of theshovel.

4. A camera-mounted autonomous aerial vehicle for flying and following ashovel, the camera-mounted autonomous aerial vehicle includes a cameraconfigured to capture an image of the shovel;

a transmitter configured to transmit the image captured by the camera;and a controller configured to obtain a position of the shovel based onthe image and determine a target flight position based on the positionof the shovel, wherein the target flight position is a position that ishigher by a predetermined height relative to a predetermined point onthe shovel and is away by a predetermined distance relative to thepredetermined point.

5. A camera-mounted autonomous aerial vehicle for flying and following ashovel, the camera-mounted autonomous aerial vehicle includes: a cameraconfigured to capture an image of the shovel; a transmitter configuredto transmit the image captured by the camera; a receiver configured toreceive information generated by the shovel; and a controller configuredto determine a target flight position based on the information generatedby the shovel, wherein the information generated by the shovel is eitherinformation related to a position of the shovel or a combination of theinformation related to the position of the shovel and informationrelated to an orientation of the shovel, and the target flight positionis a position that is higher by a predetermined height relative to apredetermined point on the shovel and is away by a predetermineddistance relative to the predetermined point.

6. A shovel includes a lower traveling body; an upper turning bodymounted on the lower traveling body; and a transmitter, a receiver, anda positioning device mounted on the upper turning body, wherein a flightprohibited space of an autonomous aerial vehicle is set based on atleast a position of the shovel obtained by the positioning device,whether or not the autonomous aerial vehicle exists in the flightprohibited space is determined based on a position of the autonomousaerial vehicle received by the receiver, and upon the autonomous aerialvehicle being determined to exist in the flight prohibited space,information related to a target flight position set outside the flightprohibited space is transmitted to the autonomous aerial vehicle.

7. A shovel includes a lower traveling body; an upper turning bodymounted on the lower traveling body; and a transmitter and a positioningdevice mounted on the upper turning body, wherein the transmitter isconfigured to transmit information related to a flight prohibited spaceof an autonomous aerial vehicle, the flight prohibited space being setbased on at least a position of the shovel obtained by the positioningdevice.

8. The shovel according to clause 7, wherein the flight prohibited spaceis set based on the position of the shovel and an orientation of theshovel.

9. An autonomous aerial vehicle including a receiver for receivinginformation generated by a shovel, wherein an autonomous operation isperformed such that the autonomous aerial vehicle flies outside a flightprohibited space around the shovel, the flight prohibited space beingset based on the information generated by the shovel.

10. An autonomous aerial vehicle including a camera for capturing animage of a shovel, wherein information related to a position of theshovel with respect to the autonomous aerial vehicle is obtained basedon the image captured by the camera, and an autonomous operation isperformed such that the autonomous aerial vehicle flies outside a flightprohibited space around the shovel, the flight prohibited space beingdetermined based on the information.

11. An autonomous aerial vehicle including a camera for capturing animage of a shovel, wherein information related to a position and anorientation of the shovel with respect to the autonomous aerial vehicleis obtained based on the image captured by the camera, and an autonomousoperation is performed such that the autonomous aerial vehicle fliesoutside a flight prohibited space around the shovel, the flightprohibited space being determined based on the information.

12. A shovel includes a lower traveling body; an upper turning bodymounted on the lower traveling body; a transmitter, a receiver, anddisplay device mounted on the upper turning body; and a controllerconfigured to generate information related to a target flight positionof an autonomous aerial vehicle, wherein the transmitter is configuredto transmit the information related to the target flight position to theautonomous aerial vehicle, and the target flight position is a positionthat is higher by a predetermined height relative to predetermined pointon the shovel and is away by a predetermined distance relative to thepredetermined point.

13. The shovel according to clause 12, wherein the receiver isconfigured to receive position information of the autonomous aerialvehicle, and the controller is configured to generate the informationrelated to the target flight position based on the position informationof the autonomous aerial vehicle.

14. The shovel according to clause 12, wherein the information relatedto the target flight position is either information related to aposition of the shovel or a combination of the information related tothe position of the shovel and information related to an orientation ofthe shovel.

15. An autonomous aerial vehicle for flying and following a shovel, theautonomous aerial vehicle includes: a receiver configured to receiveinformation generated by the shovel; and a controller configured todetermine a target flight position based on the information generated bythe shovel, wherein the information generated by the shovel is eitherinformation related to a position of the shovel or a combination of theinformation related to the position of the shovel and informationrelated to an orientation of the shovel, and the target flight positionis a position that is higher by a predetermined height relative to apredetermined point on the shovel and is away by a predetermineddistance relative to the predetermined point.

Further, the present invention is not limited to these embodiments, butvarious variations and modifications may be made without departing fromthe scope of the present invention.

What is claimed is:
 1. A shovel comprising: a lower traveling body; anupper turning body mounted on the lower traveling body; a receivermounted on the upper turning body and configured to receive an imagecaptured by a camera-mounted autonomous aerial vehicle; a directiondetecting device mounted on the upper turning body and configured todetect a direction of the shovel; a controller mounted on the upperturning body and configured to generate information related to a targetrotation angle of the camera-mounted autonomous aerial vehicle based onthe direction of the shovel; and a display device mounted on the upperturning body and configured to display the captured image in a samedirection as a direction of an image that the camera-mounted autonomousaerial vehicle is configured to capture when the camera-mountedautonomous aerial vehicle rotates by the target rotation angle.
 2. Theshovel according to claim 1, wherein the receiver is configured toreceive information related to a direction of the camera-mountedautonomous aerial vehicle, and the controller is configured to generatethe information related to the target rotation angle based on thedirection of the shovel and the direction of the camera-mountedautonomous aerial vehicle.
 3. The shovel according to claim 1, whereinthe controller is configured to rotate the captured image by the targetrotation angle and cause the display device to display the capturedimage.
 4. The shovel according to claim 1, wherein a direction of thecamera-mounted autonomous aerial vehicle when the camera-mountedautonomous aerial vehicle rotates by the target rotation angle is thesame as the direction of the shovel.
 5. The shovel according to claim 1,further comprising: a transmitter mounted on the upper turning body,wherein the transmitter is configured to transmit, to the camera-mountedautonomous aerial vehicle, either the information related to the targetrotation angle or a combination of the information related to the targetrotation angle and information related to a target flight position ofthe camera-mounted autonomous aerial vehicle, and the target flightposition is a position that is higher by a predetermined height relativeto a predetermined point on the shovel and is away by a predetermineddistance relative to the predetermined point.
 6. The shovel according toclaim 1, further comprising: a transmitter mounted on the upper turningbody, wherein the transmitter is configured to transmit, to thecamera-mounted autonomous aerial vehicle, information related to thedirection of the shovel as information related to the target rotationangle.
 7. An autonomous aerial vehicle comprising: a camera configuredto capture an image of a shovel; a transmitter configured to transmitthe image captured by the camera; and a controller configured to obtaina direction of the shovel based on the captured image and determine atarget rotation angle of the autonomous aerial vehicle based on thedirection of the shovel, wherein an angle between a direction of theautonomous aerial vehicle when the autonomous aerial vehicle rotates bythe target rotation angle and a direction of the shovel is apreliminarily set angle.
 8. The autonomous aerial vehicle according toclaim 7, wherein the transmitter is configured to transmit an imageobtained by rotating the captured image by the target rotation angle. 9.The autonomous aerial vehicle according to claim 7, wherein theautonomous aerial vehicle rotates by the target rotation angle.
 10. Anautonomous aerial vehicle comprising: a camera configured to capture animage of a shovel; a transmitter configured to transmit the imagecaptured by the camera; a receiver configured to receive informationgenerated by the shovel; and a controller configured to determine atarget rotation angle of the autonomous aerial vehicle based on theinformation generated by the shovel, wherein an angle between adirection of the autonomous aerial vehicle when the autonomous aerialvehicle rotates by the target rotation angle and a direction of theshovel is a preliminarily set angle.
 11. A shovel comprising: a lowertraveling body; an upper turning body mounted on the lower travelingbody; a receiver mounted on the upper turning body and configured toreceive an image captured by a camera-mounted autonomous aerial vehicle,the captured image including a marker image such that a direction of theshovel is identified, the marker image being an image of a mark attachedto the shovel; and a controller mounted on the upper turning body andconfigured to guide a movement of the shovel based on the marker imageincluded in the captured image.
 12. An autonomous aerial vehiclecomprising: a camera configured to capture an image of a shovel; atransmitter configured to transmit the image captured by the camera; anda controller configured to obtain a position and a direction of theshovel based on the captured image, wherein the captured image includesa marker image that is an image of a mark attached to the shovel.